136 lines
3.9 KiB
C
136 lines
3.9 KiB
C
#include <xc.h>
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#include <stdint.h>
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#include <pic16f676.h>
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// CONFIGURATION
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#pragma config FOSC = INTRCCLK // Internal oscillator
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#pragma config WDTE = OFF // Watchdog timer off
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#pragma config PWRTE = ON // Power-up timer enabled
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#pragma config MCLRE = OFF
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#define _XTAL_FREQ 4000000
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volatile uint8_t current_button_status = 1;
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volatile uint8_t current_mode = 0;
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volatile uint8_t servo_pos = 127; // 0=1ms, 255=2ms
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volatile uint8_t pulse_state = 0; // 0=start pulse, 1=end pulse
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volatile uint8_t isincreasing = 0;
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void __interrupt() ISR(void) {
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INTCONbits.GIE = 0;
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if (PIR1bits.TMR1IF) {
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PIR1bits.TMR1IF = 0; // Clear interrupt flag
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T1CONbits.TMR1ON = 0;
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// Calculate pulse parameters
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// 3000 ticks = 20ms
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uint8_t postoms= (uint16_t)(servo_pos*126) / 255;
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uint16_t on_ticks = 16 + postoms * 2;
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uint16_t off_ticks = 3000 - on_ticks;
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if (pulse_state == 0) {
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RC5 = 1; // Start pulse
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TMR1L = (0xFFFF - on_ticks)& 0xFF;//on_ticks;
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TMR1H = (0xFFFF - on_ticks) >> 8;
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pulse_state = 1;
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} else {
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RC5 = 0; // End pulse
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TMR1L = (0xFFFF - off_ticks) & 0xFF;
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TMR1H = (0xFFFF - off_ticks) >> 8;
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pulse_state = 0;
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}
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T1CONbits.TMR1ON = 1;
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}
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INTCONbits.GIE = 1;
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}
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void setup() {
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// Set RA1 as digital input
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ANSEL = 0;
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CMCON = 0x07;
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TRISC = 0x00;
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TRISAbits.TRISA1 = 1;
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WPUAbits.WPUA1 = 1;
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OPTION_REGbits.nRAPU = 0;
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// Configure Timer1
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T1CON = 0b00110000; // Timer1: prescaler 1:8, internal clock, OFF
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TMR1H = (65535 - 188) >> 8; // Initial 1.5ms pulse (high byte)
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TMR1L = (65535 - 188) & 0xFF; // Initial 1.5ms pulse (low byte)
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PIR1bits.TMR1IF = 0; // Clear interrupt flag
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PIE1bits.TMR1IE = 1; // Enable Timer1 interrupt
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INTCONbits.PEIE = 1; // Enable peripheral interrupts
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INTCONbits.GIE = 1; // Enable global interrupts
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T1CONbits.TMR1ON = 1;
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// Configure ADC
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TRISAbits.TRISA2 = 1;
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ANSELbits.ANS2 = 1;
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ADCON0 = 0b00001001;
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ADCON1 = 0;
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}
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#define bool uint8_t
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#define false 0
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#define true 1
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void UpdateLeds()
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{
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RC0 = current_mode == 0;
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RC1 = current_mode == 1;
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RC2 = current_mode == 2;
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}
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void check_button() {
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if (!RA1 && current_button_status) {
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__delay_ms(20);
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if(!RA1) {
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current_mode = (current_mode + 1) % 3; // Cycle through modes
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UpdateLeds();
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}
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}
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current_button_status = RA1;
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}
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void smooth_servo(uint8_t target_pos) {
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// Move servo_pos towards target_pos gradually
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if (servo_pos < target_pos) {
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servo_pos++;
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} else if (servo_pos > target_pos) {
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servo_pos--;
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}
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}
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inline uint8_t read_adc() {
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ADCON0bits.GO = 1;
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while(ADCON0bits.GO_DONE);
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return ADRESH;
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}
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void main() {
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setup(); // Initialize peripherals
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UpdateLeds();
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while(1) {
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check_button(); // Check for button presses
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switch(current_mode) {
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case 0:
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smooth_servo(read_adc());
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__delay_us(100);
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break;
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case 1:
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smooth_servo(94);
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__delay_us(100);
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break;
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case 2:
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if(isincreasing) {
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smooth_servo(servo_pos + 1);
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__delay_ms(5);
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if(servo_pos + 1 >= 254) isincreasing = 0;
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} else
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{
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smooth_servo(servo_pos - 1);
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__delay_ms(5);
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if(servo_pos - 1 <= 0) isincreasing = 1;
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}
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break;
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}
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}
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} |