tacit/pic16f676_ServoTester
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fix adc

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This commit is contained in:
sfokin 2025-04-12 21:36:10 +03:00
parent b74b63cd3b
commit b78d822ae3
1 changed files with 138 additions and 136 deletions
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274
main.c
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@ -1,137 +1,139 @@
#include <xc.h>
#include <stdint.h>
#include <pic16f676.h>
// CONFIGURATION
#pragma config FOSC = INTRCIO // Internal oscillator
#pragma config WDTE = OFF // Watchdog timer off
#pragma config PWRTE = ON // Power-up timer enabled
#pragma config MCLRE = OFF
#define _XTAL_FREQ 4000000
volatile uint8_t current_button_status = 1;
volatile uint8_t current_mode = 0;
volatile uint8_t servo_pos = 127; // 0=1ms, 255=2ms
volatile uint8_t pulse_state = 0; // 0=start pulse, 1=end pulse
volatile uint8_t isincreasing = 0;
void __interrupt() ISR(void) {
INTCONbits.GIE = 0;
if (PIR1bits.TMR1IF) {
PIR1bits.TMR1IF = 0; // Clear interrupt flag
static uint16_t off_ticks; // Retains value between interrupts
static uint16_t timer;
if (pulse_state == 0) {
// Calculate pulse parameters
uint16_t on_ticks = 75 + ((uint16_t)servo_pos * 237) / 255; // Map to 0.5ms-2.5ms
off_ticks = 2500 - on_ticks; // 2500 ticks = 20ms
RC5 = 1; // Start pulse
timer = 65535 - on_ticks;
TMR1L = (unsigned char)(timer & 0xFF);
TMR1H = (unsigned char)(timer >> 8);
pulse_state = 1;
} else {
RC5 = 0; // End pulse
timer = 65535 - off_ticks;
TMR1L = (unsigned char)(timer & 0xFF);
TMR1H = (unsigned char)(timer >> 8);
pulse_state = 0;
}
}
INTCONbits.GIE = 1;
}
void setup() {
// Set RA1 as digital input
ANSEL = 0;
CMCON = 0x07;
TRISC = 0x00;
TRISAbits.TRISA1 = 1;
WPUAbits.WPUA1 = 1;
OPTION_REGbits.nRAPU = 0;
// Configure Timer1
T1CON = 0b00110000; // Timer1: prescaler 1:8, internal clock, OFF
TMR1H = (65536 - 188) >> 8; // Initial 1.5ms pulse (high byte)
TMR1L = (65536 - 188) & 0xFF; // Initial 1.5ms pulse (low byte)
PIR1bits.TMR1IF = 0; // Clear interrupt flag
PIE1bits.TMR1IE = 1; // Enable Timer1 interrupt
INTCONbits.PEIE = 1; // Enable peripheral interrupts
INTCONbits.GIE = 1; // Enable global interrupts
T1CONbits.TMR1ON = 1;
// Configure ADC
TRISAbits.TRISA2 = 0;
ANSELbits.ANS2 = 1;
ADCON0 = 0b00001001;
ADCON1 = 0;
}
#define bool uint8_t
#define false 0
#define true 1
void UpdateLeds()
{
RC0 = current_mode == 0;
RC1 = current_mode == 1;
RC2 = current_mode == 2;
}
void check_button() {
if (!RA1 && current_button_status) {
__delay_ms(20);
if(!RA1) {
current_mode = (current_mode + 1) % 3; // Cycle through modes
UpdateLeds();
}
}
current_button_status = RA1;
}
void smooth_servo(uint8_t target_pos) {
// Move servo_pos towards target_pos gradually
if (servo_pos < target_pos) {
servo_pos++;
} else if (servo_pos > target_pos) {
servo_pos--;
}
}
inline uint8_t read_adc() {
ADCON0bits.GO = 1;
while(ADCON0bits.GO_DONE);
return ADRESH;
}
void main() {
setup(); // Initialize peripherals
UpdateLeds();
while(1) {
check_button(); // Check for button presses
switch(current_mode) {
case 0:
smooth_servo(read_adc());
__delay_us(100);
break;
case 1:
//target_pos = 511;
smooth_servo(127);
__delay_us(100);
break;
case 2:
if(isincreasing) {
smooth_servo(servo_pos + 1);
__delay_ms(10);
if(servo_pos + 1 >= 254) isincreasing = 0;
} else
{
smooth_servo(servo_pos - 1);
__delay_ms(10);
if(servo_pos - 1 <= 0) isincreasing = 1;
}
break;
}
}
#include <xc.h>
#include <stdint.h>
#include <pic16f676.h>
// CONFIGURATION
#pragma config FOSC = INTRCIO // Internal oscillator
#pragma config WDTE = OFF // Watchdog timer off
#pragma config PWRTE = ON // Power-up timer enabled
#pragma config MCLRE = OFF
#define _XTAL_FREQ 4000000
volatile uint8_t current_button_status = 1;
volatile uint8_t current_mode = 0;
volatile uint8_t servo_pos = 127; // 0=1ms, 255=2ms
volatile uint8_t pulse_state = 0; // 0=start pulse, 1=end pulse
volatile uint8_t isincreasing = 0;
void __interrupt() ISR(void) {
INTCONbits.GIE = 0;
if (PIR1bits.TMR1IF) {
PIR1bits.TMR1IF = 0; // Clear interrupt flag
T1CONbits.TMR1ON = 0;
static uint16_t off_ticks; // Retains value between interrupts
static uint16_t timer;
if (pulse_state == 0) {
// Calculate pulse parameters
uint16_t on_ticks = 125 + ((uint16_t)servo_pos * 125) / 255; // Map to 0.5ms-2.5ms
off_ticks = 2500 - on_ticks; // 2500 ticks = 20ms
timer = 65535 - on_ticks;
TMR1L = (unsigned char)(timer & 0xFF);
TMR1H = (unsigned char)(timer >> 8);
RC5 = 1; // Start pulse
pulse_state = 1;
} else {
timer = 65535 - off_ticks;
TMR1L = (unsigned char)(timer & 0xFF);
TMR1H = (unsigned char)(timer >> 8);
RC5 = 0; // End pulse
pulse_state = 0;
}
T1CONbits.TMR1ON = 1;
}
INTCONbits.GIE = 1;
}
void setup() {
// Set RA1 as digital input
ANSEL = 0;
CMCON = 0x07;
TRISC = 0x00;
TRISAbits.TRISA1 = 1;
WPUAbits.WPUA1 = 1;
OPTION_REGbits.nRAPU = 0;
// Configure Timer1
T1CON = 0b00110000; // Timer1: prescaler 1:8, internal clock, OFF
TMR1H = (65536 - 188) >> 8; // Initial 1.5ms pulse (high byte)
TMR1L = (65536 - 188) & 0xFF; // Initial 1.5ms pulse (low byte)
PIR1bits.TMR1IF = 0; // Clear interrupt flag
PIE1bits.TMR1IE = 1; // Enable Timer1 interrupt
INTCONbits.PEIE = 1; // Enable peripheral interrupts
INTCONbits.GIE = 1; // Enable global interrupts
T1CONbits.TMR1ON = 1;
// Configure ADC
TRISAbits.TRISA2 = 1;
ANSELbits.ANS2 = 1;
ADCON0 = 0b00001001;
ADCON1 = 0;
}
#define bool uint8_t
#define false 0
#define true 1
void UpdateLeds()
{
RC0 = current_mode == 0;
RC1 = current_mode == 1;
RC2 = current_mode == 2;
}
void check_button() {
if (!RA1 && current_button_status) {
__delay_ms(20);
if(!RA1) {
current_mode = (current_mode + 1) % 3; // Cycle through modes
UpdateLeds();
}
}
current_button_status = RA1;
}
void smooth_servo(uint8_t target_pos) {
// Move servo_pos towards target_pos gradually
if (servo_pos < target_pos) {
servo_pos++;
} else if (servo_pos > target_pos) {
servo_pos--;
}
}
inline uint8_t read_adc() {
ADCON0bits.GO = 1;
while(ADCON0bits.GO_DONE);
return ADRESH;
}
void main() {
setup(); // Initialize peripherals
UpdateLeds();
while(1) {
check_button(); // Check for button presses
switch(current_mode) {
case 0:
smooth_servo(read_adc());
__delay_us(100);
break;
case 1:
smooth_servo(128);
__delay_us(100);
break;
case 2:
if(isincreasing) {
smooth_servo(servo_pos + 1);
__delay_ms(10);
if(servo_pos + 1 >= 254) isincreasing = 0;
} else
{
smooth_servo(servo_pos - 1);
__delay_ms(10);
if(servo_pos - 1 <= 0) isincreasing = 1;
}
break;
}
}
}