| /roboti/Robotour/SW/motor/motor.PJT |
|---|
| 0,0 → 1,40 |
| [PROJECT] |
| Target=motor.HEX |
| Development_Mode= |
| Processor=0x688F |
| ToolSuite=CCS |
| [Directories] |
| Include=C:\Program Files\PICC\devices\;C:\Program Files\PICC\Dr |
| Library= |
| LinkerScript= |
| [Target Data] |
| FileList=C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\motor\motor.c |
| BuildTool=C-COMPILER |
| OptionString=+FM |
| AdditionalOptionString= |
| BuildRequired=1 |
| [motor.c] |
| Type=4 |
| Path= |
| FileList= |
| BuildTool= |
| OptionString= |
| AdditionalOptionString= |
| [mru-list] |
| 1=motor.c |
| [Windows] |
| 0=0000 motor.c 0 0 796 451 3 0 |
| [Opened Files] |
| 1=C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\motor\motor.c |
| 2=C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\motor\motor.h |
| 3=C:\Program Files\PICC\devices\16F88.h |
| 4= |
| [Units] |
| Count=1 |
| 1=C:\dokumenty\svn\Kaklik\roboti\Robotour\SW\motor\motor.c (main) |
| /roboti/Robotour/SW/motor/motor.c |
|---|
| 0,0 → 1,86 |
| #include "motor.h" |
| #use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1 |
| //#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2 |
| #define H1 PIN_A1 |
| #define L1 PIN_A2 |
| #define H2 PIN_A3 |
| #define L2 PIN_A4 |
| signed int8 command; |
| #INT_SSP |
| void ssp_interupt () |
| { |
| BYTE incoming, state; |
| output_low(H1); |
| output_low(L1); |
| output_low(H2); |
| output_low(L2); |
| state = i2c_isr_state(); |
| if(state < 0x80) //Master is sending data |
| { |
| output_toggle(PIN_A0); |
| command = i2c_read(); |
| } |
| if(state == 0x80) //Master is requesting data |
| { |
| i2c_write(command); |
| } |
| } |
| void main() |
| { |
| setup_adc_ports(NO_ANALOGS|VSS_VDD); |
| setup_adc(ADC_OFF); |
| setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1); |
| setup_timer_1(T1_DISABLED); |
| setup_timer_2(T2_DISABLED,0,1); |
| setup_comparator(NC_NC_NC_NC); |
| setup_vref(FALSE); |
| setup_oscillator(OSC_8MHZ|OSC_INTRC); |
| enable_interrupts(GLOBAL); |
| enable_interrupts(INT_SSP); |
| while(true) |
| { |
| if (0==command) |
| { |
| output_low(H1); // stop |
| output_low(H2); |
| output_low(L1); |
| output_low(L2); |
| continue; |
| }; |
| if (command>0) |
| { |
| output_high(H1); // vpred |
| output_low(H2); |
| output_low(L1); |
| output_high(L2); |
| } |
| else |
| { |
| output_low(H1); // vzad |
| output_high(H2); |
| output_high(L1); |
| output_low(L2); |
| }; |
| delay_us(127-abs(command)); |
| output_low(H1); |
| output_low(H2); |
| output_low(L1); |
| output_low(L2); |
| } |
| } |
| /roboti/Robotour/SW/motor/motor.h |
|---|
| 0,0 → 1,18 |
| #include <16F88.h> |
| #device adc=8 |
| #FUSES NOWDT //No Watch Dog Timer |
| #FUSES INTRC_IO //Internal RC Osc, no CLKOUT |
| #FUSES PUT //Power Up Timer |
| #FUSES MCLR //Master Clear pin enabled |
| #FUSES NOBROWNOUT //No brownout reset |
| #FUSES NOLVP //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O |
| #FUSES NOCPD //No EE protection |
| #FUSES NOWRT //Program memory not write protected |
| #FUSES NODEBUG //No Debug mode for ICD |
| #FUSES NOPROTECT //Code not protected from reading |
| #FUSES NOFCMEN //Fail-safe clock monitor disabled |
| #FUSES NOIESO //Internal External Switch Over mode disabled |
| #use delay(clock=8000000) |