Subversion Repositories svnkaklik

#include "motor.h"
#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA0) // Motor 1
//#use i2c(Slave,Fast,sda=PIN_B1,scl=PIN_B4,force_hw,address=0xA2) // Motor 2

#define H1 PIN_A1
#define L1 PIN_A2
#define H2 PIN_A3
#define L2 PIN_A4

signed int8 command;

#INT_SSP
void ssp_interupt ()
{
   BYTE incoming, state;
   
   output_low(H1);
   output_low(L1);
   output_low(H2);
   output_low(L2);

        state = i2c_isr_state();

        if(state < 0x80)                                                        //Master is sending data
        {
      output_toggle(PIN_A0);
                command = i2c_read();
        }
   
        if(state == 0x80)                                                       //Master is requesting data
        {
                i2c_write(command);
        }
}


void main()
{

   setup_adc_ports(NO_ANALOGS|VSS_VDD);
   setup_adc(ADC_OFF);
   setup_timer_0(RTCC_INTERNAL|RTCC_DIV_1);
   setup_timer_1(T1_DISABLED);
   setup_timer_2(T2_DISABLED,0,1);
   setup_comparator(NC_NC_NC_NC);
   setup_vref(FALSE);
   setup_oscillator(OSC_8MHZ|OSC_INTRC);
   
   enable_interrupts(GLOBAL);
   enable_interrupts(INT_SSP);
   
   while(true)
   {

      if (0==command)
      {
         output_low(H1);      // stop
         output_low(H2);
         output_low(L1);
         output_low(L2);
         continue;
      };
      if (command>0)
      {
         output_high(H1);     // vpred
         output_low(H2);
         output_low(L1);
         output_high(L2);
      }
      else
      {
         output_low(H1);      // vzad
         output_high(H2);
         output_high(L1);
         output_low(L2);
      };
      delay_us(127-abs(command));
      output_low(H1);
      output_low(H2);
      output_low(L1);
      output_low(L2);
   }
}