psp_wrt_receiver.c

Embedded camera control program.

// Master of all
// Thuc hien theo giai thuat Lyapunov

#device  PIC16F877 *=16 ADC=10
#include <16f877.h>
#include <math.h>
#include <stdlib.h>
#fuses hs,nowdt,noprotect,put,nolvp,brownout
#use delay(clock=20000000) 	// 20 MhZ
#use rs232(baud=56000,parity=N,xmit=PIN_C6, rcv=PIN_C7)
#use I2C(master, sda=PIN_C4, scl=PIN_C3,NOFORCE_SW)

#use fast_io(E)

float e2=0,e3=0;

//psp variable
unsigned int frame1[16];
int ip=0;
int16 pspt=0,sampling_T=0;
byte* ptr;
int i;
boolean Rev_OK=0;
boolean the_first=0;
//-----------------------------------------------------------------------------
#INT_PSP
void psp_isr()
{
 int rev_byte=0;
 while(!psp_input_full()) ;   // wait data
 if ( (!psp_overflow()) )
 {
  rev_byte = psp_data;
  if (ip==0) {Rev_OK=0;set_timer1(0);}
  frame1[ip] = rev_byte;
  ip++;

  if ((ip==16) && (frame1[0]==252))
  {
    ip=0; Rev_OK = 1;
    the_first=1;
    ptr = (byte*) &e2; // Khoi phuc e2
    for (i=1;i<=4;i++) {*ptr = frame1[i]; ptr++;}

    ptr = (byte*) &e3; // Khoi phuc e3
    for (i=12;i<=15;i++) {*ptr = frame1[i]; ptr++;}
    pspt=get_timer1();
    set_timer1(0);
  }
 }
}


//-----------------------------------------------------------------------------
#INT_TIMER1
void isr_timer1()
{
 set_timer1(0);
 dem=dem+1;
}

//-----------------------------------------------------------------------------
void main()
{

 set_tris_e(0xff); // Port E Input
 set_tris_b(0x00);

 setup_adc_ports( NO_ANALOGS);
 setup_psp(PSP_ENABLED);
 enable_interrupts(INT_PSP);
 enable_interrupts(INT_TIMER1);
 enable_interrupts(GLOBAL);

 setup_timer_1(T1_INTERNAL | T1_DIV_BY_8);
 set_timer1(0);

 while (1)
 { printf("Ok1\r");
   while (!REV_OK) ; //neu dang nhan thi cho*`, nhung neu chua nhan hoac nhan roi thi van lam voi goi toa do cu
   printf("e3=%1.5f e2=%1.5f\r",e3,e2);
   printf("pspt=%lu sampling_tC=%u dem=%d\r",pspt,frame1[11],dem);
   printf("f0=%u XX1=%d XX2=%d x1=%d y1=%d x2=%d y2=%d\r",frame1[0],frame1[5],frame1[6],frame1[7],frame1[8],frame1[9],frame1[10]);
 }

}