📄 main0505.c
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CAP1_flag=TRUE;
if (CAP_C)
CAP_C=0;
else
{ PBDATDIR=0x0702;
CAP_C=1;
}
}
CAP_p->CAP_value = read_fifo(capture); /* read FIFO */
CAP_p->delta_count=65536*T3overflow_counter+CAP_p->CAP_value-p->delta_count;
T3overflow_counter=0;
position=position+75; /* accumulate position */
}
/*************************************/
/* drive SRM */
void drive_SRM()
{
static unsigned int clock_PBvalue[6]={0x0703,0x0704,0x0706,0x0701,0x0702,0x0705};
static unsigned int anticlock_PBvalue[6]={0x0705,0x0702,0x0704,0x0703,0x0706,0x0701};
int i;
struct CAP_INT * p;
CAP_p=creat_link();
p=CAP_p->next;
if (sign_state) /* drive SRM */
{
PBDATDIR=0x0702;
for(i=0;i<=5;i++)
{
PBvalue[i]=anticlock_PBvalue[i];
p->delta_count=0xffff;
p->CAP_value=0;
p=p->next;
}
}
else
{
PBDATDIR=0x0704;
for(i=0;i<=5;i++)
{
PBvalue[i]=clock_PBvalue[i];
p->delta_count=0xffff;
p->CAP_value=0;
p=p->next;
}
}
}
/*********************************************/
void keyboard_ISR()
{
int i;
unsigned int scan_in,scan_out,x2;
int row,column=0,key_NO; /* row=0,1,2; column=1,2,3,4 */
row=4;
for(i=0;i<7500;i++);
scan_in=port5;
x2=scan_in & 0x0f;
if (x2!=0x0f)
{
switch(x2)
{
case 0x0e: column=4;
break;
case 0x0d: column=3;
break;
case 0x0b: column=2;
break;
case 0x07: column=1;
break;
default : column=17;
}
scan_out=0x0f7;
port0=scan_out; /* scan keyboard */
for(i=0;i<1000;i++);
scan_in=port5;
while ((scan_in & 0x0f)==0x0f)
{
scan_out=scan_out>>1;
port0=scan_out;
for(i=0;i<1000;i++);
scan_in=port5;
row--;
if (row==0)
{
row=17;
break;
}
}
key_NO=4*(row-1)+column;
port0=0x00;
x2=port5;
while ((x2&0x0f)!=0x0f)
{
x2=port5;
port0=0x00;
}
for(i=0;i<7500;i++);
x2=port5;
while ((x2&0x0f)!=0x0f)
{
x2=port5;
port0=0x00;
}
switch(key_NO)
{
case 1 :
case 2 :
case 3 :
case 4 :
case 5 :
case 6 :
case 7 :
case 8 :
case 9 :
case 10 : if (input_state==FALSE) /* deal with data keyboard */
break;
if (dot_state)
input_dotbit--;
input_value=input_value*10+key_NO-1;
inputdata_num++;
break;
case 11 : if (input_state==FALSE) /* deal with radix point keyboard */
break;
if (dot_state)
break;
if (inputdata_num!=0)
{
input_dotbit=3;
dot_state=TRUE;
break;
}
case 12 : if (sign_state) /* deal with sign keyboard */
sign_state=FALSE;
else
sign_state=TRUE;
/* if (start_state==TRUE)
{
revert_state=TRUE;
CAP_p=CAP_p->next;
CAP_p=CAP_p->next;
CAP_p=CAP_p->next;
} */
break;
/***********************/
/* code for denote the reverse state */
/***********************/
case 13 : disable_interrupts();
eventmgr_init();
PBDATDIR = 0x0701; /* outputs IOPA0–IOPA2, IOPA0 set high */
init_SRM();
input_state=TRUE;
/* Enable timer 1 period interrupts */
IFR = 0xffff;
IFRA = 0x7ff;
IMR = 0x0002; /* Enable CPU Interrupts:INT */
IMRA = 0x0080; /* Enable timer 1 period interrupts */
asm(" CLRC INTM"); /* Global interrupt enable */
/* location SRM, fire phase A */
break;
case 14 : display_order++;
if (display_order==4)
display_order=1;
break;
case 15 : disable_interrupts();
display_order=1;
enable_interrupts();
drive_SRM();
start_state=TRUE;
break;
case 16 :
/* stop SRM */
/*IMRB = 0x0; /* Disable timer 3 period */
/*IMRC = 0x0; /* Disnable CAP1~3 interrupts*/
disable_interrupts();
PBDATDIR = 0x0703; /* outputs IOPA0–IOPA2, IOPA0 set high */
start_state=FALSE;
revert_state=FALSE;
break;
default : break;
}
}
}
/*************************************/
/*********************************************/
/* ISR for A/D and keyboard interrupt */
/* ISR for A/D and keyboard interrupt */
void c_int6()
{
unsigned int sysint_vector;
IFR=0x0020; /* Clear interrupt flags */
sysint_vector=SYSIVR; /* read interrupt vector address offset */
if (sysint_vector=0x0004) /* if ADC interrupt */
{
ADCTRL1=ADCTRL1 | 0x100;
ADC_ISR();
}
}
/* display data on LCD */
void display(display_value,dot_bit)
unsigned int display_value; /* the value want to be displayed */
int dot_bit; /* dot bit */
{
unsigned int bit_value[4];
unsigned int x,port1_value;
port1_value=0;
if (display_value>=2000)
port1_value=port1_value|0x40;
bit_value[3]=display_value%10; /* the lowest bit data */
bit_value[2]=(display_value/10)%10;
bit_value[1]=(display_value/100)%10;
bit_value[0]=display_value/1000; /* the highest bit data */
if (bit_value[0]==1)
port1_value=port1_value|0x02;
if (sign_state)
port1_value=port1_value|0x01;
x=dot_bit;
if ((x>=1)&&(x<=3))
port1_value=port1_value|(1<<(x+1)); /* show radix point */
port1=port1_value;
if ((dot_bit!=1)&&(dot_bit!=2)&&(bit_value[0]==0)&&(bit_value[1]==0))
port2=0x0f;
else
port2=bit_value[1];
if (((dot_bit==3)&&(bit_value[1]==0)&&(bit_value[0]==0))||((dot_bit==4)&&(bit_value[0]==0)&&(bit_value[1]==0)&&(bit_value[2]==0)))
port3=0x0f;
else
port3=bit_value[2];
port4=bit_value[3];
}
/* ***************************************************************** */
/* The main program
/* ***************************************************************** */
main()
{
unsigned long velocity;
unsigned int x1;
int i;
struct CAP_INT * p1;
unsigned long delta_count;
disable_interrupts();
dsp_setup();
eventmgr_init();
init_SRM();
for(;;)
{
port0=0x00;
x1=XINT1CR;
if (x1&0x8000)
{
keyboard_ISR();
XINT1CR=0x0007;
}
if (display_times>=1000)
{
display_times=0;
switch (display_order)
{
case 1: /* read velocity */
delta_count=0;
p1=CAP_p;
for(i=1;i<=6;i++)
{
delta_count=delta_count+p1->delta_count;
p1=p1->next;
}
if (delta_count==0)
velocity=0;
else
velocity=VELOCITY_CONST*6/delta_count;
velocity_value=(unsigned int)velocity;
velocity_dotbit=4;
display(velocity_value,velocity_dotbit);
break;
case 2: /* read position */
position=800;
position_value=position;
if (position_value%10)
{
position_value=position;
position_dotbit=3;
if (position_value>2000)
{
position_value=position/10;
position_dotbit=4;
}
}
else
{
position_value=position;
position_dotbit=4;
}
display(position_value,position_dotbit); break;
case 3: display(input_value,input_dotbit); break;
default: break;
}
}
}
}
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