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#include ".\camerus.h"

#USE FAST_IO (C)

// kroutitka
#define  CERVENA  3  // AN3/RA3
#define  CERNA    2  // AN2/RA2
#define  ZELENA   1  // AN1/RA0
#define  MODRA    0  // AN0/RA1

// I/O
#define LED    PIN_C0
#define HREF   PIN_C5
#define PIX    PIN_C6
#define SERVO  PIN_B7
#define MOT_L  PIN_B5
#define MOT_R  PIN_B6

void main()
{
   int8 cas;
   int8 offset;
   int8 rr; // Rozumna rychlost
   int8 r1;
   int8 r2;

   int16 ble;
   
   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);

   set_pwm1_duty(0);   // Zastav motory
   set_pwm2_duty(0);
   output_low(MOT_L);
   output_low(MOT_R);

   output_high(LED);

   delay_ms(200);

   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(0xA0);
   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);
   delay_ms(200);

/*
   i2c_start();      // BW + freeze AGC/AEC
   i2c_write(0xC0);
   i2c_write(0x28);
   i2c_write(0b01010001);
   i2c_stop();
*/
   output_high(LED);
   delay_ms(200);
   output_low(LED);

   cas=128;

   ble=0;
   
   while(true)
   {
      while(!input(HREF));
//      delay_cycles(4);
      set_timer0(0);
      while(input(HREF))
      {
         if(!input(PIX))
         if(!input(PIX))
         {
            cas=get_timer0();
            cas=255-cas;
            break;
         };
      };

      set_adc_channel(MODRA);
      Delay_ms(1);
      offset=read_adc();
      output_high(SERVO);
      delay_us(1000);
      delay_us(offset);
      delay_us(offset);
      delay_us(cas);
      delay_us(cas);
//      delay_us(cas);
      output_low(SERVO);
      
      ble++;
      set_adc_channel(ZELENA);
      Delay_ms(1);
      offset=read_adc();
      set_adc_channel(CERNA);
      Delay_ms(1);
      rr=read_adc();
      r1=cas>>1;
      r2=255-offset-(cas>>1);
      if (ble==99)
      {
         set_pwm1_duty(rr);
         set_pwm2_duty(rr);      
      };
      if ((ble>100)&&(ble<60000))
      {      
         if (r1<=rr) set_pwm1_duty(r1);
         if (r2<=rr) set_pwm2_duty(r2);
      }
      else
      {
         set_pwm1_duty(0);
         set_pwm2_duty(0);
      }
   };
}