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#include "driver.h"
#include "TAU.h"
#include "DELAY.H"
#include "OSD.H"
#include "TLC5620.H"
#include "math.h"
#include "Serial.H"
#include "OSD.h"
void System_Init(void);
U16 ii,jj;
//const U8 H_Motor_PA[16] = {40,137,220,255,255,255,220,137,40,137,220,255,255,255,220,137};
//const U8 H_Motor_PB[16] = {235,235,200,117,20,117,200,235,235,235,200,117,20,117,200,235};
void main(void)
{
System_Init();
Motor_Check();
init_upd6464a();
while(1)
{
Display_Angle(Pan_Angle,Tilt_Angle);
delay_x1ms(50);
}
}
void System_Init(void)
{
U16 i,j;
DI();
Clock_Init();
PM0.1 = 1;
//DA
TLC5620_Init();
//timer
TAU_Init();
//485
SAU1_Init();
UART3_Start();
//osd
init_upd6464a();
//var
clock = 0;
round = 0;
Pan_Run_Stop_Flag = 0;
Tilt_Run_Stop_Flag = 0;
Pan = 0;
Pan_Last = 0;
Tilt = 0;
Tilt_Last = 0;
Pan_Clock = 0;
Tilt_Clock = 0;
First_Run_Pan = 0;
First_Run_Tilt = 0;
Pan_Angle = 0;
Tilt_Angle = 0;
Receive_Flag = 0;
Micro_Step = 128;
for(i = 0;i<(4*Micro_Step);i++)
{
H_Motor_PA_128[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PC_128[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PB_128[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PD_128[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
}
Micro_Step = 64;
for(i = 0;i<(4*Micro_Step);i++)
{
H_Motor_PA_64[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PC_64[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PB_64[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PD_64[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
}
Micro_Step = 32;
for(i = 0;i<(4*Micro_Step);i++)
{
H_Motor_PA_32[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PC_32[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PB_32[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PD_32[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
}
Micro_Step = 16;
for(i = 0;i<(4*Micro_Step);i++)
{
H_Motor_PA_16[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PC_16[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PB_16[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PD_16[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
}
Micro_Step = 8;
for(i = 0;i<(4*Micro_Step);i++)
{
H_Motor_PA_8[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PC_8[i] = (U8)((fabs(sin(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PB_8[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
H_Motor_PD_8[i] = (U8)((fabs(cos(3.1415*i/(2*Micro_Step))))*255);
}
TLC5620_SetOutput_2(CHL0,255,CHL1,255);
TLC5620_SetOutput_2(CHL2,255,CHL3,255);
Motor_Init();
delay_x1ms(600);
EI();
/*
for(i = 60000;i> 1;i--)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
Delay(1);
//delay_x1ms(1);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
Delay(1);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
Delay(1);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
Delay(1);
//delay_x1ms(1);
}
for(i = 10000;i> 1;i--)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
Delay(1);
//delay_x1ms(1);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
Delay(1);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
Delay(1);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
Delay(1);
//delay_x1ms(1);
}*/
/*
for(i = 20000;i> 19950;i-=40)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
j = i;
Delay(j);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
j = i-10;
Delay(j);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
j = i-20;
Delay(j);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
j = i-30;
Delay(j);
}*/
/*
while(1)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
Delay(400);
//delay_x1ms(1);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
Delay(400);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
Delay(400);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
Delay(400);
//delay_x1ms(1);
}
*/
//TLC5620_SetOutput(CHL0,00);
//TLC5620_SetOutput(CHL1,00);
//TAU_Channel3_Start();
/*
while(1)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
Delay(1490);
//delay_x1ms(1);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
Delay(1490);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
Delay(1490);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
Delay(1490);
//delay_x1ms(1);
}
*/
//delay_x1ms(100);
//Motor_Init();
//MOTOR_PWMA = 0;//high
//MOTOR_PWMB = 0;//low
//Motor_Init();
//for(j = 1000;j<=500;j-=50)
//{
/*
for(i = 1000;i>= 400;i-=200)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
Delay(i);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
Delay(i-50);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
Delay(i-100);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
Delay(i-150);
}
*/
/*
for(i = 900;i> 800;i-=20)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
Delay(i);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
Delay(i-5);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
Delay(i-10);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
Delay(i-15);
}
while(1)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
Delay(250);
//delay_x1ms(1);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
Delay(250);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
Delay(250);
//delay_x1ms(1);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
Delay(250);
//delay_x1ms(1);
}
for(i = 500;i> 100;i--)
{
for(j = 0;j<10;j++)
{
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 0;//low
Delay(i);
MOTOR_PWMA = 1;//high
MOTOR_PWMB = 1;//high
Delay(i);
MOTOR_PWMA = 0;
MOTOR_PWMB = 1;
Delay(i);
MOTOR_PWMA = 0;
MOTOR_PWMB = 0;
Delay(i);
}
}
*/
//}
//MOTOR_PWMA_PM = 1;//high
//MOTOR_PWMB_PM = 1;//low
/*
TLC5620_SetOutput(CHL0,255);
TLC5620_SetOutput(CHL1,255);
for(i = 0;i< 500;i++)
{
TOE0 &= ~TAU_CH5_OUTPUT_ENABLE & ~TAU_CH6_OUTPUT_ENABLE;
TAU_Channel5_ChangeDuty(100);
TAU_Channel6_ChangeDuty(0);
TOE0 |= TAU_CH5_OUTPUT_ENABLE;
TOE0 |= TAU_CH6_OUTPUT_ENABLE;
Delay(400);
TOE0 &= ~TAU_CH5_OUTPUT_ENABLE & ~TAU_CH6_OUTPUT_ENABLE;
TAU_Channel5_ChangeDuty(100);
TAU_Channel6_ChangeDuty(100);
TOE0 |= TAU_CH5_OUTPUT_ENABLE;
TOE0 |= TAU_CH6_OUTPUT_ENABLE;
Delay(400);
TOE0 &= ~TAU_CH5_OUTPUT_ENABLE & ~TAU_CH6_OUTPUT_ENABLE;
TAU_Channel5_ChangeDuty(0);
TAU_Channel6_ChangeDuty(100);
TOE0 |= TAU_CH5_OUTPUT_ENABLE;
TOE0 |= TAU_CH6_OUTPUT_ENABLE;
Delay(400);
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