WebSVN – svnkaklik – Diff – /roboti/istrobot/camerus/SW/876/camerus.c


#include ".\camerus.h"
 
#USE FAST_IO (C)
 
// kroutitka
#define  CERVENA  1  // AN1
#define  CERNA    4  // AN4
#define  ZELENA   3  // AN3
#define  MODRA    0  // AN0
 
// I/O
#define LED    PIN_C0
#define HREF   PIN_C5
#define PIX    PIN_C6
#define SERVO  PIN_B7
 
void main()
{
   int8 cas;
   int16 offset;
 
   setup_adc_ports(ALL_ANALOG);
   setup_adc(ADC_CLOCK_INTERNAL);
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
   setup_timer_1(T1_DISABLED);
   setup_timer_2(T2_DIV_BY_16,255,1);
   setup_ccp1(CCP_PWM); // RC1
   setup_ccp2(CCP_PWM); // RC2
   setup_comparator(NC_NC_NC_NC);
   setup_vref(FALSE);
 
   set_tris_c(0b11111000);
 
   output_high(LED);
 
   i2c_start();      // Reset
   i2c_write(0xC0);
   i2c_write(0x12);
   i2c_write(0x80 | 0x24);
   i2c_stop();
 
   i2c_start();      // BW
   i2c_write(0xC0);
   i2c_write(0x28);
   i2c_write(0b01000001);
   i2c_stop();
 
   i2c_start();      // Contrast
   i2c_write(0xC0);
   i2c_write(0x05);
   i2c_write(0xFF);
   i2c_stop();
 
   i2c_start();      // Brightness
   i2c_write(0xC0);
   i2c_write(0x06);
   i2c_write(0x80);
   i2c_stop();
 
/*
   i2c_start();      // Band Filter
   i2c_write(0xC0);
   i2c_write(0x2D);
   i2c_write(0x04 | 0x03);
   i2c_stop();
 
   i2c_start();      // 4-bit, (CLK/4)
   i2c_write(0xC0);
   i2c_write(0x3E);
   i2c_write(0x10 | 0x80);
   i2c_stop();
*/
   i2c_start();      // VSTRT
   i2c_write(0xC0);
   i2c_write(0x19);
   i2c_write(45);
   i2c_stop();
 
   i2c_start();      // VEND
   i2c_write(0xC0);
   i2c_write(0x1A);
   i2c_write(45);
   i2c_stop();
 
   output_low(LED);
   
   cas=128;
 
   while(true)
   {
      while(!input(HREF));
      set_timer0(0);
      while(input(HREF))
      {
        if(!input(PIX))
        {
          cas=get_timer0();
          break;
        }
      };
 
      cas=255-cas;
      
      set_adc_channel(MODRA);
      Delay_ms(1);
      offset=read_adc();
      output_high(SERVO);
      delay_us(900);
      delay_us(offset);
      delay_us(cas);
      delay_us(cas);
      delay_us(cas);
      output_LOW(SERVO);
      set_pwm1_duty(cas);
      set_pwm2_duty(255-cas);
   };
}

Rev 149	Rev 150
1	`#include ".\camerus.h"`	1	`#include ".\camerus.h"`
2		2
3	`#USE FAST_IO (C)`	3	`#USE FAST_IO (C)`
4		4
-		5	`// kroutitka`
-		6	`#define CERVENA 1 // AN1`
-		7	`#define CERNA 4 // AN4`
-		8	`#define ZELENA 3 // AN3`
-		9	`#define MODRA 0 // AN0`
-		10
-		11	`// I/O`
5	`#define LED PIN_C0`	12	`#define LED PIN_C0`
6	`#define HREF PIN_C5`	13	`#define HREF PIN_C5`
7	`#define PIX PIN_C6`	14	`#define PIX PIN_C6`
8	`#define SERVO PIN_B7`	15	`#define SERVO PIN_B7`
9		16
10	`void main()`	17	`void main()`
11	`{`	18	`{`
12	`int8 cas;`	19	`int8 cas;`
-		20	`int16 offset;`
13		21
14	`setup_adc_ports(ALL_ANALOG);`	22	`setup_adc_ports(ALL_ANALOG);`
15	`setup_adc(ADC_CLOCK_INTERNAL);`	23	`setup_adc(ADC_CLOCK_INTERNAL);`
16	`setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`	24	`setup_timer_0(RTCC_INTERNAL\|RTCC_DIV_1);`
17	`setup_timer_1(T1_DISABLED);`	25	`setup_timer_1(T1_DISABLED);`
18	`setup_timer_2(T2_DIV_BY_16,255,1);`	26	`setup_timer_2(T2_DIV_BY_16,255,1);`
19	`setup_ccp1(CCP_PWM); // RC1`	27	`setup_ccp1(CCP_PWM); // RC1`
20	`setup_ccp2(CCP_PWM); // RC2`	28	`setup_ccp2(CCP_PWM); // RC2`
21	`setup_comparator(NC_NC_NC_NC);`	29	`setup_comparator(NC_NC_NC_NC);`
22	`setup_vref(FALSE);`	30	`setup_vref(FALSE);`
23		31
24	`set_tris_c(0b11111000);`	32	`set_tris_c(0b11111000);`
25		33
26	`output_high(LED);`	34	`output_high(LED);`
27		35
28	`i2c_start(); // Reset`	36	`i2c_start(); // Reset`
29	`i2c_write(0xC0);`	37	`i2c_write(0xC0);`
30	`i2c_write(0x12);`	38	`i2c_write(0x12);`
31	`i2c_write(0x80 \| 0x24);`	39	`i2c_write(0x80 \| 0x24);`
32	`i2c_stop();`	40	`i2c_stop();`
33		41
34	`i2c_start(); // BW`	42	`i2c_start(); // BW`
35	`i2c_write(0xC0);`	43	`i2c_write(0xC0);`
36	`i2c_write(0x28);`	44	`i2c_write(0x28);`
37	`i2c_write(0b01000001);`	45	`i2c_write(0b01000001);`
38	`i2c_stop();`	46	`i2c_stop();`
39		47
40	`i2c_start(); // Contrast`	48	`i2c_start(); // Contrast`
41	`i2c_write(0xC0);`	49	`i2c_write(0xC0);`
42	`i2c_write(0x05);`	50	`i2c_write(0x05);`
43	`i2c_write(0xFF);`	51	`i2c_write(0xFF);`
44	`i2c_stop();`	52	`i2c_stop();`
45		53
46	`i2c_start(); // Brightness`	54	`i2c_start(); // Brightness`
47	`i2c_write(0xC0);`	55	`i2c_write(0xC0);`
48	`i2c_write(0x06);`	56	`i2c_write(0x06);`
49	`i2c_write(0x80);`	57	`i2c_write(0x80);`
50	`i2c_stop();`	58	`i2c_stop();`
51		59
52	`/*`	60	`/*`
53	`i2c_start(); // Band Filter`	61	`i2c_start(); // Band Filter`
54	`i2c_write(0xC0);`	62	`i2c_write(0xC0);`
55	`i2c_write(0x2D);`	63	`i2c_write(0x2D);`
56	`i2c_write(0x04 \| 0x03);`	64	`i2c_write(0x04 \| 0x03);`
57	`i2c_stop();`	65	`i2c_stop();`
58		66
59	`i2c_start(); // 4-bit, (CLK/4)`	67	`i2c_start(); // 4-bit, (CLK/4)`
60	`i2c_write(0xC0);`	68	`i2c_write(0xC0);`
61	`i2c_write(0x3E);`	69	`i2c_write(0x3E);`
62	`i2c_write(0x10 \| 0x80);`	70	`i2c_write(0x10 \| 0x80);`
63	`i2c_stop();`	71	`i2c_stop();`
64	`*/`	72	`*/`
65	`i2c_start(); // VSTRT`	73	`i2c_start(); // VSTRT`
66	`i2c_write(0xC0);`	74	`i2c_write(0xC0);`
67	`i2c_write(0x19);`	75	`i2c_write(0x19);`
68	`i2c_write(45);`	76	`i2c_write(45);`
69	`i2c_stop();`	77	`i2c_stop();`
70		78
71	`i2c_start(); // VEND`	79	`i2c_start(); // VEND`
72	`i2c_write(0xC0);`	80	`i2c_write(0xC0);`
73	`i2c_write(0x1A);`	81	`i2c_write(0x1A);`
74	`i2c_write(45);`	82	`i2c_write(45);`
75	`i2c_stop();`	83	`i2c_stop();`
76		84
77	`output_low(LED);`	85	`output_low(LED);`
-		86
-		87	`cas=128;`
78		88
79	`while(true)`	89	`while(true)`
80	`{`	90	`{`
81	`while(!input(HREF));`	91	`while(!input(HREF));`
82	`set_timer0(0);`	92	`set_timer0(0);`
83	`while(input(HREF))`	93	`while(input(HREF))`
84	`{`	94	`{`
85	`if(!input(PIX))`	95	`if(!input(PIX))`
86	`{`	96	`{`
87	`cas=get_timer0();`	97	`cas=get_timer0();`
88	`break;`	98	`break;`
89	`}`	99	`}`
90	`};`	100	`};`
-		101
-		102	`cas=255-cas;`
-		103
-		104	`set_adc_channel(MODRA);`
-		105	`Delay_ms(1);`
-		106	`offset=read_adc();`
91	`output_high(SERVO);`	107	`output_high(SERVO);`
92	`delay_us(1000);`	108	`delay_us(900);`
-		109	`delay_us(offset);`
93	`delay_us(cas);`	110	`delay_us(cas);`
94	`delay_us(cas);`	111	`delay_us(cas);`
95	`delay_us(cas);`	112	`delay_us(cas);`
96	`output_LOW(SERVO);`	113	`output_LOW(SERVO);`
97	`set_pwm1_duty(cas);`	114	`set_pwm1_duty(cas);`
98	`set_pwm2_duty(255-cas);`	115	`set_pwm2_duty(255-cas);`
99	`};`	116	`};`
100	`}`	117	`}`

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