/roboti/solarni/2005/jump/bak/menic_1.c |
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0,0 → 1,80 |
//#device ICD=TRUE |
#include ".\menic.h" |
//#use fast_io(B) |
#define PIEZO PIN_A6 |
#define LED PIN_A7 |
#define MENIC PIN_B3 |
#define REFPWR PIN_B1 |
#define MOTOR PIN_B2 |
unsigned int32 n; |
void pip() |
{ |
int1 beep; |
int i; |
for(i=0; i<250; i++) |
{ |
output_bit(PIEZO, beep); |
beep=~beep; |
output_bit(LED, beep); |
delay_us(100); |
}; |
output_high(PIEZO); |
output_high(LED); |
} |
void main() |
{ |
setup_adc_ports(NO_ANALOGS|VSS_VDD); |
setup_adc(ADC_OFF); |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
setup_timer_1(T1_DISABLED); |
setup_timer_2(T2_DISABLED,0,1); |
setup_comparator(NC_NC_NC_NC); |
setup_vref(FALSE); |
setup_oscillator(OSC_4MHZ|OSC_INTRC); |
// SET_TRIS_B( 0b11110011); |
output_low(MENIC); |
output_low(MOTOR); |
output_low(REFPWR); |
pip(); |
for(n=0;n<370000;n++) |
// for(n=0;n<100000;n++) |
{ |
// set_timer0(0); |
// while ( get_timer0() < 250 ) |
{ |
output_high(MENIC); |
delay_us(5); |
output_low(MENIC); |
delay_us(4); |
// delay_us(90); |
}; |
} |
pip(); |
output_high(MOTOR); |
delay_ms(3000); |
output_low(MOTOR); |
while(true) |
{ |
output_high(LED); |
delay_ms(300); |
output_low(LED); |
delay_ms(300); |
} |
} |
/roboti/solarni/2005/jump/bak/menic_2_nefunguje_rozjezd.c |
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0,0 → 1,148 |
#include ".\menic.h" |
#define RAZENI 100 // Po kolika ms se bude menit rychlost pro rozjizdeni |
#define REFNOM 107 // Hodnota odpovidajici 1,2V pri nominalnim zatizeni |
#define REFSTART 80 // Hodnota odpovidajici 1,2V pri nezatizenych clancich |
#define PIEZO PIN_A6 // Jeden pol piezo reproduktoru |
#define LED PIN_A7 // LED |
#define MENIC PIN_B3 // Spinani tranzistoru menice |
#define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
#define MOTOR PIN_B2 // Spinani tranzistoru motoru |
#byte SSPBUF = 0x13 // Registry jednotky SSP |
#byte SSPCON1 = 0x14 |
#byte SSPSTAT = 0x94 |
// Vzorky pro generovani PWM pomoci SSP |
unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
unsigned int8 MotorPattern; |
#INT_SSP |
void IntSSP() |
{ |
SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
} |
void pip() // pipnuti a bliknuti |
{ |
int1 beep; |
int i; |
for(i=0; i<250; i++) |
{ |
output_bit(PIEZO, beep); |
beep=~beep; |
output_bit(LED, beep); |
delay_us(100); |
}; |
output_high(PIEZO); |
output_high(LED); |
} |
void cvak() // pouze cvaknuti piezoelementem bez bliknuti |
{ |
output_bit(PIEZO,~input(PIEZO)); |
} |
void main() |
{ |
int8 n; |
int8 perioda; |
setup_adc_ports(ADC_CLOCK_INTERNAL|sAN4|VSS_VDD); |
setup_adc(ADC_CLOCK_INTERNAL); |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
setup_timer_1(T1_DISABLED); |
setup_comparator(NC_NC_NC_NC); |
setup_vref(FALSE); |
output_low(MENIC); // Vsechno zastav |
output_low(MOTOR); |
output_low(REFPWR); |
output_high(LED); |
output_high(PIEZO); |
set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
setup_timer_2(T2_DIV_BY_1,100,1); // perioda |
setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
// jsme v depu? |
set_pwm1_duty(2); // PWM pro zatizeni clanku pri malem osvetleni |
n=0; |
do |
{ |
output_low(REFPWR); |
delay_ms(100); |
if (4==n++) {cvak(); n=0;}; |
output_high(REFPWR); // zapni napajeni napetove reference |
delay_ms(1); |
} while (read_adc()>REFSTART); // Odkryl starter clanky? |
output_low(REFPWR); |
pip(); // potvrzeni odstartovani |
// regulace |
perioda=100; // nastav optimalni periodu pri jedne 500W zarovce |
for(n=0;n<=7;n++) |
{ |
set_pwm1_duty(0); |
setup_timer_2(T2_DIV_BY_1,perioda,1); // perioda |
set_pwm1_duty(19); // delka sepnuti |
delay_ms(100); |
output_high(REFPWR); // zapni napajeni napetove reference |
delay_ms(1); |
if (read_adc()<REFNOM) perioda--; // zvyseni zatizeni menice |
output_low(REFPWR); // konec mereni, odpoj napajeni reference |
}; |
// nabíjíme |
delay_ms(14000); |
// rozjezd |
SSPSTAT = 0; |
SSPCON1 = 0x22; // SPI OSC/64 |
enable_interrupts(global); |
for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
{ |
disable_interrupts(INT_SSP); // zastav preruseni od SSP |
MotorPattern=Pattern[n]; |
SSPBUF=MotorPattern; // data pro vyslani |
enable_interrupts(INT_SSP); // az budou vyslana, prijde interrupt od SSP |
delay_ms(RAZENI); // Pockej na dalsi razeni |
}; |
SSPSTAT = 0; |
SSPCON1 = 0; // SPI stop |
disable_interrupts(INT_SSP); // zastav preruseni od SSP |
// jedem co to da |
output_high(MOTOR); |
delay_ms(1000); |
output_low(MOTOR); |
set_pwm1_duty(0); // zastav menic |
// vybiti kondenzatoru pro ucely mereni |
pip(); |
delay_ms(2000); |
pip(); |
output_high(MOTOR); |
while(true) |
{ |
output_high(LED); |
output_low(PIEZO); |
delay_ms(300); |
output_low(LED); |
output_high(PIEZO); |
delay_ms(300); |
} |
// priprava na dalsi jizdu |
delay_ms(5000); |
reset_cpu(); |
} |
/roboti/solarni/2005/jump/bak/menic_3.c |
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0,0 → 1,148 |
#include ".\menic.h" |
#define RAZENI 50 // Po kolika ms se bude menit rychlost pro rozjizdeni |
#define REFNOM 107 // Hodnota odpovidajici 1,2V pri nominalnim zatizeni |
#define REFSTART 80 // Hodnota odpovidajici 1,2V pri nezatizenych clancich |
#define PIEZO PIN_A6 // Jeden pol piezo reproduktoru |
#define LED PIN_A7 // LED |
#define MENIC PIN_B3 // Spinani tranzistoru menice |
#define REFPWR PIN_B1 // Napajeni zdroje referencniho napeti |
#define MOTOR PIN_B2 // Spinani tranzistoru motoru |
#byte SSPBUF = 0x13 // Registry jednotky SSP |
#byte SSPCON1 = 0x14 |
#byte SSPSTAT = 0x94 |
// Vzorky pro generovani PWM pomoci SSP |
unsigned int8 const Pattern[8] = {0x02,0x06,0x0e,0x1e,0x3e,0x7e,0xfe,0xff}; |
unsigned int8 MotorPattern; |
#INT_SSP |
void IntSSP() |
{ |
SSPBUF=MotorPattern; // znovu vysli stejnou hodnotu |
} |
void pip() // pipnuti a bliknuti |
{ |
int1 beep; |
int i; |
for(i=0; i<250; i++) |
{ |
output_bit(PIEZO, beep); |
beep=~beep; |
output_bit(LED, beep); |
delay_us(100); |
}; |
output_high(PIEZO); |
output_high(LED); |
} |
void cvak() // pouze cvaknuti piezoelementem bez bliknuti |
{ |
output_bit(PIEZO,~input(PIEZO)); |
} |
void main() |
{ |
int8 n; |
int8 perioda; |
setup_adc_ports(ADC_CLOCK_INTERNAL|sAN4|VSS_VDD); |
setup_adc(ADC_CLOCK_INTERNAL); |
setup_spi(FALSE); |
setup_timer_0(RTCC_INTERNAL|RTCC_DIV_256); |
setup_timer_1(T1_DISABLED); |
setup_comparator(NC_NC_NC_NC); |
setup_vref(FALSE); |
output_low(MENIC); // Vsechno zastav |
output_low(MOTOR); |
output_low(REFPWR); |
output_high(LED); |
output_high(PIEZO); |
set_adc_channel(4); // Vyber AD kanal pro pomerne mereni napeti |
set_pwm1_duty(0); // Spust PWM, ale zatim s trvalou 0 na vystupu |
setup_ccp1(CCP_PWM); // PWM pro zatizeni clanku v seru |
setup_timer_2(T2_DIV_BY_1,100,1); // perioda |
setup_oscillator(OSC_4MHZ|OSC_INTRC); // rozjed PIC (zvysi se odber) |
// jsme v depu? |
set_pwm1_duty(2); // PWM pro zatizeni clanku pri malem osvetleni |
n=0; |
do |
{ |
output_low(REFPWR); |
delay_ms(100); |
if (4==n++) {cvak(); n=0;}; |
output_high(REFPWR); // zapni napajeni napetove reference |
delay_ms(1); |
} while (read_adc()>REFSTART); // Odkryl starter clanky? |
output_low(REFPWR); |
pip(); // potvrzeni odstartovani |
// regulace |
perioda=100; // nastav optimalni periodu pri jedne 500W zarovce |
for(n=0;n<=7;n++) |
{ |
set_pwm1_duty(0); |
setup_timer_2(T2_DIV_BY_1,perioda,1); // perioda |
set_pwm1_duty(19); // delka sepnuti |
delay_ms(100); |
output_high(REFPWR); // zapni napajeni napetove reference |
delay_ms(1); |
if (read_adc()<REFNOM) perioda--; // zvyseni zatizeni menice |
output_low(REFPWR); // konec mereni, odpoj napajeni reference |
}; |
// nabíjíme |
delay_ms(14000); |
// rozjezd |
SSPSTAT = 0; |
SSPCON1 = 0x22; // SPI OSC/64 |
MotorPattern=0x02; // prvni data pro vyslani |
SSPBUF=MotorPattern; // data pro vyslani |
enable_interrupts(global); |
enable_interrupts(INT_SSP); // az budou vyslana, prijde interrupt od SSP |
for(n=0; n<=7; n++) // razeni osmi rychlostnich stupnu |
{ |
MotorPattern=Pattern[n]; |
delay_ms(RAZENI); // Pockej na dalsi razeni |
}; |
SSPSTAT = 0; |
SSPCON1 = 0; // SPI stop |
disable_interrupts(INT_SSP); // zastav preruseni od SSP |
// jedem co to da |
output_high(MOTOR); |
delay_ms(1000); |
output_low(MOTOR); |
set_pwm1_duty(0); // zastav menic |
// vybiti kondenzatoru pro ucely mereni |
pip(); |
delay_ms(2000); |
pip(); |
output_high(MOTOR); |
while(true) |
{ |
output_high(LED); |
output_low(PIEZO); |
delay_ms(300); |
output_low(LED); |
output_high(PIEZO); |
delay_ms(300); |
} |
// priprava na dalsi jizdu |
delay_ms(5000); |
reset_cpu(); |
} |
/roboti/solarni/2005/jump/bak/vssver.scc |
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Cannot display: file marked as a binary type. |
svn:mime-type = application/octet-stream |
Property changes: |
Added: svn:mime-type |
+application/octet-stream |
\ No newline at end of property |