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Rev 366 Rev 368
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#include "motor.h"
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#include "motor.h"
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//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1
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//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1
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#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2
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//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2
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#define H1 PIN_A1
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#define H1 PIN_A1
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#define L1 PIN_A2
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#define L1 PIN_A2
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#define H2 PIN_A3
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#define H2 PIN_A3
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#define L2 PIN_A4
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#define L2 PIN_A4
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signed int8 command;
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signed int8 command;  // rozsah +-127
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#INT_SSP
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#INT_SSP
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void ssp_interupt ()
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void ssp_interupt ()
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{
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{
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   BYTE incoming, state;
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   BYTE incoming, state;
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   output_low(H1);
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   output_low(H1);
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   output_low(L1);
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   output_low(L1);
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   output_low(H2);
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   output_low(H2);
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   output_low(L2);
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   output_low(L2);
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	state = i2c_isr_state();
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	state = i2c_isr_state();
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	if(state < 0x80)							//Master is sending data
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	if(state < 0x80)							//Master is sending data
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	{
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	{
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      output_toggle(PIN_A0);
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//      output_toggle(PIN_A0);
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		command = i2c_read();
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		command = i2c_read();
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	}
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	}
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	if(state == 0x80)							//Master is requesting data
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	if(state == 0x80)							//Master is requesting data
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	{
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	{
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		i2c_write(command);
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		i2c_write(command);
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	}
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	}
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}
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}
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void main()
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void main()
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{
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{
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   int8 speed;
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   setup_adc_ports(NO_ANALOGS|VSS_VDD);
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   setup_adc_ports(NO_ANALOGS|VSS_VDD);
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   setup_adc(ADC_OFF);
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   setup_adc(ADC_OFF);
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   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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//   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
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   setup_timer_0(RTCC_INTERNAL);setup_wdt(WDT_144MS);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_1(T1_DISABLED);
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   setup_timer_2(T2_DISABLED,0,1);
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   setup_timer_2(T2_DISABLED,0,1);
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   setup_comparator(NC_NC_NC_NC);
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   setup_comparator(NC_NC_NC_NC);
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   setup_vref(FALSE);
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   setup_vref(FALSE);
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   setup_oscillator(OSC_8MHZ|OSC_INTRC);
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   setup_oscillator(OSC_8MHZ|OSC_INTRC);
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   enable_interrupts(GLOBAL);
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   enable_interrupts(GLOBAL);
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   enable_interrupts(INT_SSP);
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   enable_interrupts(INT_SSP);
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   command=0;  // zastaveni po resetu
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   while(true)
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   while(true)
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   {
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   {
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      if (0==command)
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      if ((0==command) || (command>127) || (command<-127)) // prikaz na odpojeni mustky nebo chybna hodnota
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      {
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      {
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         output_low(H1);      // stop
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         output_low(H1);      // stop
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         output_low(H2);
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         output_low(H2);
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         output_low(L1);
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         output_low(L1);
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         output_low(L2);
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         output_low(L2);
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         continue;
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         continue;
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      };
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      };
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      speed=command+127;   // posunuti 0 pro zaporna cisla
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      if (command>0)
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      output_a(0b10010);
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      {
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      delay_us(speed);
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         output_high(H1);     // vpred
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      output_a(0);
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         output_low(H2);
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      delay_us(1);
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         output_low(L1);
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      restart_wdt();
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         output_high(L2);
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      output_a(0b01100);
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      delay_us(254-speed);
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      }
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      output_a(0);
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      else
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      delay_us(1);
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      {
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/*
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         output_low(H1);      // vzad
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      output_high(H1);     // vpred
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         output_high(H2);
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      output_high(L2);
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      delay_us(speed);
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      output_low(H1);      // stop, aby se neseply tranzistory proti sobe!
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         output_high(L1);
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      output_low(H2);
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         output_low(L2);
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      output_low(L1);
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      };
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      output_low(L2);
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      delay_us(abs(command));
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      output_high(H2);     // vzad
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      output_low(H1);
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      output_high(L1);
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      delay_us(32-speed);
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      output_low(H1);      // stop, aby se neseply tranzistory proti sobe!
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      output_low(H2);
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      output_low(H2);
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      output_low(L1);
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      output_low(L1);
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      output_low(L2);
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      output_low(L2);
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*/
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   }
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   }
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}
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}
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