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/roboti/istrobot/3Orbis/bak/04 posledni RTOS/cidla/cidla.c
0,0 → 1,147
#include ".\cidla.h"
//#include <stdlib.h>
 
#use rs232(baud=110,parity=N,xmit=PIN_B1,rcv=PIN_B0,bits=8,restart_wdt)
 
#define IRRX PIN_B0
 
#define TRESHOLD_MAX 60 // rozhodovaci uroven pro cidla cerna/bila
#define TRESHOLD_MIN 40
#define CIHLA 10 // doba, po kterou musi byt detekovana cihla
 
unsigned int8 radius; // co cidla vidi
unsigned int8 last_radius; // rozsah
unsigned int8 last_cidla; // co cidla videla minule
unsigned int8 shure; // citac doby, po kterou musi byt detekovana cihla
 
//tuning
/*#define PULZACE 3 // urcuje rychlost pulzovani pomoci PWM
 
//Vystup PWM je na PIN_B3
////////////////////////////////////////////////////////////////////////////////
void pulzovani() // postupne rozsvecuje a zhasina podsvetleni
{
unsigned int8 i,n;
for(n=0;n<=3;n++)
{
for(i=0;i<255;i++) {set_pwm1_duty(i); Delay_ms(PULZACE);} // rozsvecovani
for(i=255;i>0;i--) {set_pwm1_duty(i); Delay_ms(PULZACE);} // zhasinani
}
}
*/
////////////////////////////////////////////////////////////////////////////////
void main()
{
int8 cidla;
unsigned int8 a;
unsigned int8 n;
 
setup_adc_ports(sAN0|sAN1|sAN2|sAN3|sAN4|sAN5|sAN6|VSS_VDD);
setup_adc(ADC_CLOCK_INTERNAL);
setup_spi(SPI_SLAVE|SPI_H_TO_L|SPI_SS_DISABLED);
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);
 
last_radius=0b00001000; // minimalni rozsah snimani od stredu
last_cidla=0b00001000;
 
shure=0;
while(true)
{
set_adc_channel(0);
cidla=0;
Delay_us(10);
a=read_adc();
 
set_adc_channel(1);
if(a<TRESHOLD_MAX) //hystereze cidel
{
if(a>TRESHOLD_MIN)
{
cidla |= (last_cidla & 0b00000001);
}
else cidla |= 0b00000001;
}
 
a=read_adc();
 
set_adc_channel(2);
if(a<TRESHOLD_MAX)
{
if(a>TRESHOLD_MIN)
{
cidla |= (last_cidla & 0b00000010);
}
else cidla |= 0b00000010;
}
 
a=read_adc();
 
set_adc_channel(3);
if(a<TRESHOLD_MAX)
{
if(a>TRESHOLD_MIN)
{
cidla |= (last_cidla & 0b00000100);
}
else cidla |= 0b00000100;
}
 
a=read_adc();
 
set_adc_channel(4);
if(a<TRESHOLD_MAX)
{
if(a>TRESHOLD_MIN)
{
cidla |= (last_cidla & 0b00001000);
}
else cidla |= 0b00001000;
}
a=read_adc();
 
set_adc_channel(5);
 
if(a<TRESHOLD_MAX)
{
if(a>TRESHOLD_MIN)
{
cidla |= (last_cidla & 0b00010000);
}
else cidla |= 0b00010000;
}
a=read_adc();
 
set_adc_channel(6);
if(a<TRESHOLD_MAX)
{
if(a>TRESHOLD_MIN)
{
cidla |= (last_cidla & 0b00100000);
}
else cidla |= 0b00100000;
}
a=read_adc();
 
if(a<TRESHOLD_MAX)
{
if(a>TRESHOLD_MIN)
{
cidla |=(last_cidla & 0b01000000);
}
else cidla |= 0b01000000;
}
 
last_cidla=cidla;
 
if (!input(IRRX)) {if (shure<255) shure++;} else {shure=0;};
if (shure>CIHLA) cidla|=0b10000000;
 
cidla=~cidla;
spi_write(cidla);
}
}