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Ignore whitespace Rev 233 → Rev 234

/roboti/istrobot/camerus/SW/876/camerus.c
6,6 → 6,9
 
#USE FAST_IO (C) // Brana C je ve FAST_IO modu, aby slo rychle cist z kamery
 
#define CAMERA_adr 0xC0
#define SONAR_adr 0xE0
 
// A/D vstupy
#define RMAX 4 // AN4/RA5 - leve cidlo na vyjeti z cary
#define LMAX 3 // AN3/RA3 - prave cidlo na vyjeti z cary
208,7 → 211,7
setup_comparator(NC_NC_NC_NC);
setup_vref(FALSE);
 
set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se nedela automaticky
set_tris_c(0b11111001); // Nastaveni vstup/vystup pro branu C, protoze se to nedela automaticky
 
set_pwm1_duty(0); // Zastav motory
set_pwm2_duty(0);
222,16 → 225,16
 
//... Nastaveni sonaru ...
i2c_start();
i2c_write(0xE0);
i2c_write(SONAR_adr);
i2c_write(0x02); // dosah
i2c_write(0x03); // n*43mm
i2c_stop();
i2c_start();
i2c_write(0xE0);
i2c_write(SONAR_adr);
i2c_write(0x01); // zesileni
i2c_write(0x01); // male, pro eliminaci echa z minuleho mereni
i2c_stop();
 
// pro ladeni sonaru
/*
while(true)
256,13 → 259,13
 
//... Nastaveni kamery ...
i2c_start(); // Soft RESET kamery
i2c_write(0xC0); // Pro single slave musi mit vsechny zapisy adresu C0h
i2c_write(CAMERA_adr); // Pro single slave musi mit vsechny zapisy adresu C0h
i2c_write(0x12); // Adresa registru COMH
i2c_write(0x80 | 0x24); // Zapis ridiciho slova
i2c_stop();
 
i2c_start(); // BW
i2c_write(0xC0);
i2c_write(CAMERA_adr);
i2c_write(0x28);
i2c_write(0b01000001);
i2c_stop();
282,19 → 285,19
*/
 
i2c_start(); // Fame Rate
i2c_write(0xC0);
i2c_write(CAMERA_adr);
i2c_write(0x2B);
i2c_write(0x00); // cca 17ms (puvodni hodnota 5Eh = 20ms)
i2c_stop();
 
i2c_start(); // VSTRT
i2c_write(0xC0);
i2c_write(CAMERA_adr);
i2c_write(0x19);
i2c_write(118); // prostredni radka
i2c_stop();
 
i2c_start(); // VEND
i2c_write(0xC0);
i2c_write(CAMERA_adr);
i2c_write(0x1A);
i2c_write(118);
i2c_stop();
305,7 → 308,7
int8 t1,t2;
 
i2c_start(); // Brightness, zacni od uplne tmy
i2c_write(0xC0);
i2c_write(CAMERA_adr);
i2c_write(0x06);
i2c_write(0); // 80h default
i2c_stop();
314,7 → 317,7
for(offset=0x04;offset<(255-0x04);offset+=0x04) // Zacni od jasu 10h
{
i2c_start(); // Brightness
i2c_write(0xC0);
i2c_write(CAMERA_adr);
i2c_write(0x06);
i2c_write(offset); // 80h default
i2c_stop();
348,7 → 351,7
// offset += 0x70; // Jas nebude nikdy nizsi
disp(offset);
i2c_start(); // Brightness
i2c_write(0xC0);
i2c_write(CAMERA_adr);
i2c_write(0x06);
i2c_write(offset); // 80h default
i2c_stop();