Subversion Repositories svnkaklik

#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);
   };
}