Finalproc.c
#pragma regalloc- //I allocate the registers myself
#pragma optsize- //optimize for speed
#include
#include // sprintf
#include // delay_ms
#include
#include
#include
#include
#include
#define delayForw 15
#define delayBackw 15
#define delaySample 1
#define dend 20 // distance to end of pattern, for slowing down
unsigned char Ain, t; //raw A to D number
float voltage; //scaled input voltage
int xmax=128, ymax=100; // max distance on x,y axes (match tv screen size)
int zig=1; // zig zag flag
int userReset=0; // reset flag
unsigned char tvFlag=0, tvState=0;
int halfstep=0; // motor half-stepping flag
int delayTemp;
extern unsigned char x_cycle, y_cycle; //position of the stepper motor (4 possibilities)
char key, ikey; // key used to hold any button value; ikey to hold just scan mode button
unsigned char thres=0;
unsigned char white, black, nogo;
char go;
unsigned char samp1, samp2, samp3;
int x, y; // loop variables
//-----------video----------------
//cycles = 63.625 * 16 Note NTSC is 63.55
//but this line duration makes each frame exactly 1/60 sec
//which is nice for keeping a realtime clock
#pragma regalloc+
extern char screen[1600];
char syncON, syncOFF;
extern int LineCount;
//----------functions--------------
void initialize(void);
void scanReset();
void checkTVpush();
void stop();
void sample();
void tv();
void tvclear();
//---------------------------------
void main(void)
{
initialize();
while(1)
{
scanReset(); // reset scanner
tvclear(); // clear tv
halfstep=0; // initialize halfstep option
// wait for the user to select a mode to start
while (ikey!=0xdc && ikey!=0xec && ikey!=0xf4 && ikey != 0xbc)
ikey=PINC & 0xfc;
// if halfstep button pushed
if (ikey == 0xbc){
if (halfstep){ // half step -> full step
PORTA.7 = 1; // turn off led
halfstep=0;
}
else{ // full step -> half step
PORTA.7 = 0; // turn on led
halfstep=1;
}
}
// wait for the user to select a mode to start
while (ikey!=0xdc && ikey!=0xec && ikey!=0xf4 )
ikey=PINC & 0xfc;
// calibration: setting threshold value
ADCSRA = 0b11000110;
delay_ms(delaySample);
white = ADCH;
for(x=0; x< 25; x++)
x_forw(delayForw);
delay_ms(3);
ADCSRA = 0b11000110;
delay_ms(delaySample);
black = ADCH;
delay_ms(100);
thres = ((white - black) / 2) + black;
// after calibration, set scanner to an initial position
for(y=0; y< 20; y++) {
y_forw(delayForw);
delay_ms(20);
}
for(x=0; x< 50; x++) {
x_backw(delayBackw);
key = PINC & 0x01;
if (key == 0 && x > 0)
break;
}
delay_ms(200);
/**** SCAN PROCESS ****/
if (ikey == 0xdc) // (key 1) one direction mode: scan one way only (no zig zag)
{
// step y, scan x
for (y=0; y=-50; x--){
// slow down if near edges
if (x>dend)
delayTemp=delayBackw;
else
delayTemp=delayBackw*2;
if (halfstep)
x_backw_half(delayTemp);
else
x_backw(delayTemp);
// detect if user resets
key = PINC & 0xfc;
if (key == 0xf8){
userReset=1;
break;
}
// detect if button pushed to display image to tv
checkTVpush();
if (tvFlag)
tv();
// if edge sensor is reached, stop moving backwards
key = PINC & 0x01;
if (key == 0)
break;
}
if (userReset) break;
if (halfstep)
y_forw_half(delayForw);
else
y_forw(delayForw);
}
}
else if (ikey == 0xec)// (key 2) zig zag mode: scanner slows at ends to try
{ // to avoid shaking, also with software compensation
zig=1; // initialize zig flag
// step y, scan x. zigzag pattern.
for (y=0; y=-50; x--){
sample();
if (x>=0) video_pt(x, y, Ain);
// when x rod is nearing end, slow down
if (x>dend)
delayTemp=delayBackw;
else
delayTemp=delayBackw*2;
if (halfstep)
x_backw_half(delayTemp);
else
x_backw(delayTemp);
// detect if user resets
key = PINC & 0xfc;
if (key == 0xf8){
userReset=1;
break;
}
// detect if button pushed to display image to tv
checkTVpush();
if (tvFlag)
tv();
// if reset sensor is reached, stop moving backwards
key = PINC & 0x01;
if (key == 0)
{
// fill in the rest of the screen line
while (x>=0){
video_pt(x,y, Ain);
x--;
}
break;
}
}
}
if (userReset) break;
zig=!zig;
// slow down scanner when it's about to change directions
delay_ms(20);
if (halfstep)
y_forw_half(delayForw);
else
y_forw(delayForw);
}
}
else if (ikey == 0xf4)// (key3) normal zig zag mode with software compensation
{
zig=1; // initialize zig flag
// step y, scan x. zigzag pattern.
for (y=0; y=-50; x--){
sample();
if (x>=0) video_pt(x, y, Ain);
if (halfstep)
x_backw_half(delayBackw);
else
x_backw(delayBackw);
// detect if user resets
key = PINC & 0xfc;
if (key == 0xf8){
userReset=1;
break;
}
// detect if button pushed to display image to tv
checkTVpush();
if (tvFlag)
tv();
// if reset sensor is reached, stop moving backwards
key = PINC & 0x01;
if (key == 0){
while (x>=0){
video_pt(x,y, Ain);
x--;
}
break;
}
}
}
if (userReset) break;
zig=!zig;
if (halfstep)
y_forw_half(delayForw);
else
y_forw(delayForw);
}
} // end if/else if/else if
/**** END SCAN PROCESS ****/
if (userReset)
userReset=!userReset;
else {
tvFlag=1;
tv(); // Display the scanned image to tv screen
}
} // main program loop
} //end of main
void initialize(void)
{
//init the A to D converter
//channel zero/ left adj /int Aref
//Connected to internal 2,56V use 7..6 bits as 00 for Vref
ADMUX = 0b00100000;
//enable ADC and set prescaler to 1/64*8MHz=125,000
//and set int enable
ADCSRA = 0b10000110;
// set ports
DDRD=0xff; // PORT D is output: pins 5, 6 to tv, pin 7 to half-step LED
PORTD=0x00;
DDRC=0x00; // PORT C is input: reads the x and y reset sensors
PORTC=0xfc; // Turn pullups on pins 0, 1 for sensors, rest pulldown for buttons
DDRB=0xff; // PORT B is output: controls the motors
PORTB=0x00; // upper 4 bits for x motor, lower for y motor
DDRA=0x80; // PORTA bit0 is adc and bit7 is output for led
PORTA.7 = 1;
// initialize variables
x_cycle = 0;
y_cycle = 0;
key = 0x00;
ikey = 0x00;
tvFlag=0;
tvState=0;
halfstep=0;
LineCount = 1;
syncON = 0b00000000;
syncOFF = 0b00100000;
MCUCR = 0b10000000;
#asm
sei
#endasm
}
// reset the scanner to initial corner position
void scanReset()
{
key = PINC & 0x03;
// brink x back until sensor hit
while(key == 0x01 || key == 0x03){
x_backw(delayBackw);
key = PINC & 0x03;
}
key = PINC & 0x03;
// bring y back until sensor hit
while(key == 0x02 || key == 0x03){
y_backw(delayBackw);
key = PINC & 0x03;
}
ikey = 0x00; // reset the scan mode
}
// tv display toggle and debounce
void checkTVpush()
{
key=PINC & 0xf0;
// no-button-push state
if (key==0xf0)
tvState=0;
// enter button-pushed state, toggle flag for tv/no tv
if (key == 0x70 && !tvFlag && tvState==0) {
tvState=1;
tvFlag=1;
}
else if (key==0x70 && tvFlag && tvState==0) {
tvState=1;
tvFlag=0;
}
}
// sample with the photo sensor through the ADC
void sample(){
// take 3 samples, if 2 are black, final sample will be black
ADCSRA = 0b11000110;
delay_ms(delaySample);
samp1 = ADCH;
if (samp1 > thres)
samp1 = 1;
else samp1 = 0;
ADCSRA = 0b11000110;
delay_ms(delaySample);
samp2 = ADCH;
if (samp2 > thres)
samp2 = 1;
else samp2 = 0;
ADCSRA = 0b11000110;
delay_ms(delaySample);
samp3 = ADCH;
if (samp2 > thres)
samp3 = 1;
else samp3 = 0;
Ain = samp1 + samp2 *2 + samp3*4;
if (Ain == 0 || Ain == 1 || Ain == 2 || Ain == 4)
Ain = 0;
else
Ain = 1;
}
// display scanned image to tv
void tv(){
DDRD=0xff; // Redefine PortD upper half output for TV
PORTD=0x00; //Lower half is pullup inputs for push buttons
//init timer 1 to generate sync
OCR1A = lineTime; //One NTSC line
TCCR1B = 9; //full speed; clear-on-match
TCCR1A = 0x00; //turn off pwm and oc lines
TIMSK = 0x10; //enable interrupt T1 cmp
go = 1;
while(go)
{
//stall here until next line starts
//sleep enable; mode=idle
//use sleep to make entry into sync ISR uniform time
#asm ("sleep");
//The following code executes during the vertical blanking
//Code here can be as long as
//a total of 60 lines x 63.5 uSec/line x 8 cycles/uSec
if (LineCount==231)
{
// exit tv on button push
checkTVpush();
if (!tvFlag)
go=0;
} //line 231
} //while
TIMSK = 0x00; //disable interrupt
}
// clear the tv screen buffer
void tvclear()
{
int a, b;
for (a=0; a<=99; a++)
{
for (b=0; b<=127; b++)
video_pt(b, a, 0);
}
}