| 0,0 → 1,115 |
|---|
| // Prijimac |
| #include "main.h" |
| #include "..\..\common.h" |
| |
| #DEFINE PRIJIMAC PIN_A3 // pin na ktery je pripojen prijimac |
| #DEFINE SERVO_X PIN_A2 // piny na ktere jsou pripojena serva |
| #DEFINE SERVO_Y PIN_B0 |
| #DEFINE DILEK 20 // jeden krok serva v mikrosekundach |
| |
| #bit T0IF = 0xB.2 // int. flag od Timer0 |
| |
| static int8 x = 16; // poloha serv |
| static int8 y = 16; |
| int8 trim_x = 2; |
| int8 trim_y = 2; |
| |
| boolean flag; // priznak, ze doslo k preruseni prijmu ovladanim serv |
| |
| #int_TIMER0 |
| TIMER0_isr() |
| { |
| int8 n; |
| |
| flag = true; // doslo k preruseni prijmu |
| // x = 15; |
| // y = 15; |
| |
| output_high(SERVO_X); // uvodni impuls 1ms |
| delay_ms(1); |
| for (n=trim_x; n>0; n--); |
| for (n=x; n>0; n--) Delay_us(DILEK); |
| output_low(SERVO_X); |
| |
| output_high(SERVO_Y); |
| delay_ms(1); |
| for (n=trim_y; n>0; n--); |
| for (n=y; n>0; n--) Delay_us(DILEK); |
| output_low(SERVO_Y); |
| } |
| |
| // output_high(PIN_B1); // debug pin |
| |
| void main() |
| { |
| int i; |
| int8 osa, data, check, suma; |
| |
| setup_counters(RTCC_INTERNAL,RTCC_DIV_64); // Preruseni po 16,3ms |
| enable_interrupts(INT_TIMER0); |
| enable_interrupts(global); |
| |
| loop: |
| flag = false; |
| |
| // Cekej na uvodni ticho |
| for (i=SYNC; i>0; i--) |
| { |
| delay_us(IMPULS/4); |
| if (flag) goto loop; |
| if (!input(PRIJIMAC)) i=SYNC; |
| } |
| |
| // Cekej na startovaci 1 |
| while (input(PRIJIMAC)) if (flag) goto loop; |
| |
| if (flag) goto loop; |
| |
| // Posun na cteni prvniho datoveho bitu |
| delay_us(2*IMPULS+2*IMPULS/3); |
| |
| // Cteme bity |
| for (i=8; i>0; i--) |
| { |
| data <<= 1; |
| if (input(PRIJIMAC)) data |= 1; |
| if (flag) goto loop; |
| output_high(PIN_B1); // debug pin |
| delay_us(2*IMPULS+15); |
| output_low(PIN_B1); // debug pin |
| } |
| |
| // Cteme checksum |
| check = 0; |
| for (i=4; i>0; i--) |
| { |
| check <<= 1; |
| if (input(PRIJIMAC)) check |= 1; |
| if (flag) goto loop; |
| output_high(PIN_B1); // debug pin |
| delay_us(2*IMPULS+15); |
| output_low(PIN_B1); // debug pin |
| } |
| |
| swap(data); // kontrola kontrolniho souctu |
| suma = data & 0xF; |
| swap(data); |
| suma += data & 0xF; |
| suma++; |
| suma &= 0xF; |
| if (suma != check) goto loop; |
| |
| osa = data >> 5; // extrahuj z ramce cislo osy a hodnotu |
| data &= 0x1F; |
| switch(osa) |
| { |
| case OSA_X: |
| x=data; |
| break; |
| case OSA_y: |
| y=data; |
| break; |
| } |
| |
| goto loop; |
| } |