#if defined(__PCM__) #include <16f877.h> #device ICD=TRUE #device ADC=10 #fuses XT,NOWDT,NOPROTECT,PUT,BROWNOUT #use delay(clock=4000000) #use rs232(baud=9600, xmit=PIN_C6, rcv=PIN_C7, ERRORS) #endif /********************************** GLOBS ***********************************/ int32 motor_position; /* The motor_moving var is set to true if at least one encoder count was read at sample time, otherwise it is false. */ int motor_moving; int dir_state = 0; int pwm_state = 0; int run_state = 0; //temp var for int_rtcc status int status_bit = 0; byte clock_ticks = 0; byte seconds = 0; //#define TICKS_PER_SEC 61 #define TICKS_PER_SEC 244 /********************************** GLOBS ***********************************/ int read_encoder() { int encoder_val; //assert read signal output_bit(PIN_E0, 0); //read encoder encoder_val = input_d(); //de-assert read signal output_bit(PIN_E0, 1); return encoder_val; } void clear_encoder() { //use PSP CS for now //assert clear signal output_bit(PIN_E2, 0); //de-assert clear signal output_bit(PIN_E2, 1); } #INT_RTCC clock_isr() { // Update the actual position. This assumes that the position sensor is // an 8 bit device and the actual position is 32 bits. The following // code converts from 8 bit to 32 bit and handles roll-overs. /* motor_position += (read_encoder() - ((int8)motor_position)); */ int8 old_encoder; int8 cur_encoder; int8 encoder_delta; cur_encoder = read_encoder(); old_encoder = (int8)motor_position; // get the lower 8 bits of the motor position encoder_delta = cur_encoder - old_encoder; if ( encoder_delta & 0xFF ) motor_moving = TRUE; else motor_moving = FALSE; //compiler is having trouble mixing 8 and 32 bit types if ( encoder_delta & 0x80 ) motor_position -= (~encoder_delta + 0x01); else motor_position += encoder_delta; if ( (--clock_ticks) == 0 ) { ++seconds; //debug toggle of pin C0 for int_rtcc status status_bit = !status_bit; output_bit(PIN_C0, status_bit); clock_ticks = TICKS_PER_SEC; } } void clear_timer() { set_rtcc(0); clock_ticks = TICKS_PER_SEC; seconds = 0; } void show_version() { printf("Smart Shutter v 0.4\r\n"); printf("built on "); printf(__DATE__); printf("\r\n\n"); } void get_motor_pos() { long value = 0; value = read_adc(); printf("adc value = %ld\r\n", value); } void toggle_direction() { dir_state = !dir_state; output_bit(PIN_B5, dir_state); } void toggle_pwm() { pwm_state = !pwm_state; output_bit(PIN_C2, pwm_state); } void toggle_run_sense() { run_state = !run_state; output_bit(PIN_B4, run_state); } void show_io_state() { printf("--------------\r\n"); printf("dir_state = %d\r\n", dir_state); printf("pwm_state = %d\r\n", pwm_state); printf("run_state = %d\r\n", run_state); printf("--------------\r\n"); } #define OPEN_POS 800 #define CLOSE_POS 200 #define TIME_OUT 4 void run_shutter(int val) { if ( val == 0 ) { /* if shutter is closed get out */ if ( read_adc() < CLOSE_POS ) return; /* set direction to close */ dir_state = 0; output_bit(PIN_B5, dir_state); /* start shutter motor */ output_bit(PIN_B4, 1); delay_ms(20); output_float(PIN_B4); /* clear system timer as shutter open and close is timed */ clear_timer(); while (read_adc() > CLOSE_POS) { /*wait for shutter to close*/ if ( seconds > (TIME_OUT - 1) ) { printf("\r\n_err shutter close timed out\r\n"); /* stop shutter motor */ output_bit(PIN_B4, 0); break; } if ( !input(PIN_B4) ) { /* set run_sense low */ output_bit(PIN_B4, 0); printf("\r\n_err shutter close current trip\r\n"); break; } } /* stop shutter motor */ output_bit(PIN_B4, 0); } else { /* if shutter is opened get out */ if ( read_adc() > OPEN_POS ) return; /* set direction to open */ dir_state = 1; output_bit(PIN_B5, dir_state); /* start shutter motor */ output_bit(PIN_B4, 1); delay_ms(20); output_float(PIN_B4); /* clear system timer as shutter open and close is timed */ clear_timer(); while (read_adc() < OPEN_POS) { /*wait for shutter to close*/ if ( seconds > (TIME_OUT - 1) ) { printf("\r\n_err shutter open timed out\r\n"); /* stop shutter motor */ output_bit(PIN_B4, 0); break; } if ( !input(PIN_B4) ) { /* set run_sense low */ output_bit(PIN_B4, 0); printf("\r\n_err shutter open current trip\r\n"); break; } } /* stop shutter motor */ output_bit(PIN_B4, 0); } } void store_position() { long value; value = read_adc(); // value = read_encoder(); printf("storing adc value = %ld\r\n", value); /* store MSB of value */ write_eeprom(0, make8(value, 1)); /* store LSB of value */ write_eeprom(1, make8(value, 0)); } void read_position() { long value; value = make16(read_eeprom(0), read_eeprom(1)); printf("read value = %ld from eeprom\r\n", value); } void motor_pos() { // Update the actual position. This assumes that the position sensor is // an 8 bit device and the actual position is 32 bits. The following // code converts from 8 bit to 32 bit and handles roll-overs. /* motor_position += (read_encoder() - ((int8)motor_position)); */ /* int8 old_encoder; int8 cur_encoder; int8 encoder_delta; cur_encoder = read_encoder(); old_encoder = (int8)motor_position; // get the lower 8 bits of the motor position encoder_delta = cur_encoder - old_encoder; puts("------------------------------------- 4\r\n"); printf("cur_encoder = %X %d\r\n", cur_encoder, cur_encoder); printf("old_encoder = %X %d\r\n", old_encoder, old_encoder); printf("encoder_delta = %X %d\r\n", encoder_delta, encoder_delta); //compiler is having trouble mixing 8 and 32 bit types if (encoder_delta & 0x80) { puts("encoder_delta minus\r\n"); motor_position -= (~encoder_delta + 0x01); } else { puts("encoder_delta plus\r\n"); motor_position += encoder_delta; } */ printf("motor_position = %ld\r\n", motor_position); } void encoder_pos() { printf("encoder position = %u\r\n", read_encoder()); } void clear_pos() { clear_encoder(); motor_position = 0; } void loop_read_pos() { while ( !kbhit() ) { printf("motor_position = 0x%Lx\r", motor_position); delay_ms(200); } } void calc_encoder_cps() { int32 encoder_cps; /* start motor */ dir_state = 0; run_state = 1; output_bit(PIN_B5, dir_state); output_bit(PIN_B4, run_state); /* delay for a bit to let motor reach slew */ delay_ms(500); /* clear the encoder */ clear_pos(); /* sample for 1 sec */ delay_ms(1000); /* read motor position */ encoder_cps = motor_position; /* stop the motor */ run_state = 0; output_bit(PIN_B4, run_state); /* display results */ printf("encoder cps = %ld\r\n", encoder_cps); } void get_motor_moving() { if ( motor_moving ) puts("motor moving : true"); else puts("motor moving : false"); } void show_help() { printf("1 - get the motor position\r\n"); printf("2 - toggle pwm (RC2)\r\n"); printf("3 - toggle direction (RB5)\r\n"); printf("4 - toggle run/sense (RB4)\r\n"); printf("5 - show I/O state\r\n"); printf("6 - open shutter\r\n"); printf("7 - close shutter\r\n"); printf("8 - store position\r\n"); printf("9 - read position\r\n"); printf("0 - motor position\r\n"); printf("a - encoder position\r\n"); printf("b - clear encoder\r\n"); printf("c - loopenzy read motor\r\n"); printf("d - calc encoder cps\r\n"); printf("e - is motor moving\r\n"); printf("? - show this menu\r\n"); } main() { char c; /* initialize I/O */ dir_state = 0; pwm_state = 0; run_state = 0; /* clear the motor position */ clear_pos(); output_bit(PIN_B5, dir_state); output_bit(PIN_C2, pwm_state); output_bit(PIN_B4, run_state); /* initialize RTCC */ clock_ticks = TICKS_PER_SEC; set_rtcc(0); // setup_counters( RTCC_INTERNAL, RTCC_DIV_64); setup_counters( RTCC_INTERNAL, RTCC_DIV_16); enable_interrupts(INT_RTCC); enable_interrupts(GLOBAL); /* initialize A2D */ setup_port_a(RA0_RA1_RA3_ANALOG); setup_adc(ADC_CLOCK_INTERNAL); set_adc_channel(0); /* show version and help menu */ show_version(); show_help(); /* main loop */ while(TRUE) { c = getc(); switch (c) { case '1' : get_motor_pos(); break; case '2' : toggle_pwm(); break; case '3' : toggle_direction(); break; case '4' : toggle_run_sense(); break; case '5' : show_io_state(); break; case '6' : run_shutter(1); break; case '7' : run_shutter(0); break; case '8' : store_position(); break; case '9' : read_position(); break; case '0' : motor_pos(); break; case 'a' : encoder_pos(); break; case 'b' : clear_pos(); break; case 'c' : loop_read_pos(); break; case 'd' : calc_encoder_cps(); break; case 'e' : get_motor_moving(); break; case '?' : show_help(); break; default: printf("invalid selection\r\n"); } } }