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funcs.h
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funcs.h
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//It MUST be RUN at begin of the Program
//Select default values from A/B/C and load them in RAM
void load_initial_values(void)
{
unsigned char liv0=0,liv1;
unsigned int liv2,liv3;
liv1= EE_DefaultSet;
if(liv1 =='B' || liv1=='D')DefaultSet = liv1;
else EE_DefaultSet = DefaultSet;
/*liv1= EE_EncType;
if(liv1=='4' || liv1 =='2')EncType = liv1;
else EE_EncType = EncType; */
liv2= EE_DoorWidth;
if(liv2>299 && liv2<3000)DoorWidth = liv2;
else EE_DoorWidth = DoorWidth;
liv2 = DoorWidth;
liv2 = liv2 * 10;
liv2 = liv2 / 19;
//if(EncType=='4') liv2 = liv2 * 2;
DoorWidth_pulses = liv2;
liv1= EE_DoorDirection;
if(liv1=='f' || liv1 =='r')DoorDirection = liv1;
else EE_DoorDirection = DoorDirection;
liv1= EE_InputCtrl;
if(liv1=='1' || liv1 =='2')InputCtrl = liv1;
else EE_InputCtrl = InputCtrl;
liv1 = EE_DemoDelay;
if(liv1<1 || liv1>200)EE_DemoDelay=DemoDelay;
//////semi-auto DOOR
liv1 = EE_DoorType[0];
if(liv1!='a' && liv1!='c')EE_DoorType[0]='a';
liv2 = EE_OpMaxSp[0];
if(liv2<10 || liv2>500)EE_OpMaxSp[0]=160;
liv2 = EE_ClMaxSp[0];
if(liv2<10 || liv2>500)EE_ClMaxSp[0]=140;
liv2 = EE_OpMinSp[0];
if(liv2<10 || liv2>500)EE_OpMinSp[0]=40;
liv2 = EE_ClMinSp[0];
if(liv2<10 || liv2>500)EE_ClMinSp[0]=50;
liv1 = EE_OpTorque[0];
if(liv1<7 || liv1>100)EE_OpTorque[0]=25;
liv1 = EE_ClTorque[0];
if(liv1<7 || liv1>100)EE_ClTorque[0]=20;
liv1 = EE_OpDecel[0];
if(liv1<10 || liv1>100)EE_OpDecel[0]=70;
liv1 = EE_ClDecel[0];
if(liv1<10 || liv1>100)EE_ClDecel[0]=80;
liv2 = EE_OpBrakePos[0];
if(liv2<40 || liv2>700)EE_OpBrakePos[0]=150;
liv2 = EE_ClBrakePos[0];
if(liv2<40 || liv2>700)EE_ClBrakePos[0]=150;
liv2 = EE_OpLockSp[0];
if(liv2<10 || liv2>100)EE_OpLockSp[0]=40;
liv1 = EE_OpLockTq[0];
if(liv1<7 || liv1>100)EE_OpLockTq[0]=30;
liv1 = EE_OpLockPos[0];
if(liv1<30 || liv1>200)EE_OpLockPos[0]=85;
liv2 = EE_ClLockSp[0];
if(liv2<10 || liv2>100)EE_ClLockSp[0]=40;
liv1 = EE_ClLockTq[0];
if(liv1<7 || liv1>100)EE_ClLockTq[0]=30;
liv1 = EE_ClLockPos[0];
if(liv1<30 || liv1>200)EE_ClLockPos[0]=85;
liv1 = EE_KPOnOff[0];
if(liv1!='y' && liv1!='n')EE_KPOnOff[0]='n';
liv1 = EE_KPTime[0];
if(liv1<1 || liv1>60)EE_KPTime[0]=20;
liv1 = EE_OpParkEn[0];
if(liv1!='y' && liv1!='n')EE_OpParkEn[0]='y';
liv1 = EE_OpParkTq[0];
if(liv1<7 || liv1>100)EE_OpParkTq[0]=15;
liv1 = EE_ClParkEn[0];
if(liv1!='y' && liv1!='n')EE_ClParkEn[0]='y';
liv1 = EE_ClParkTq[0];
if(liv1<7 || liv1>100)EE_ClParkTq[0]=10;
liv1 = EE_DoorType[1];
if(liv1!='a' && liv1!='c')EE_DoorType[1]='c';
liv2 = EE_OpMaxSp[1];
if(liv2<10 || liv2>500)EE_OpMaxSp[1]=140;
liv2 = EE_ClMaxSp[1];
if(liv2<10 || liv2>500)EE_ClMaxSp[1]=120;
liv2 = EE_OpMinSp[1];
if(liv2<10 || liv2>500)EE_OpMinSp[1]=40;
liv2 = EE_ClMinSp[1];
if(liv2<10 || liv2>500)EE_ClMinSp[1]=30;
liv1 = EE_OpTorque[1];
if(liv1<7 || liv1>100)EE_OpTorque[1]=30;
liv1 = EE_ClTorque[1];
if(liv1<7 || liv1>100)EE_ClTorque[1]=20;
liv1 = EE_OpDecel[1];
if(liv1<10 || liv1>100)EE_OpDecel[1]=45;
liv1 = EE_ClDecel[1];
if(liv1<10 || liv1>100)EE_ClDecel[1]=50;
liv2 = EE_OpBrakePos[1];
if(liv2<40 || liv2>700)EE_OpBrakePos[1]=150;
liv2 = EE_ClBrakePos[1];
if(liv2<40 || liv2>700)EE_ClBrakePos[1]=125;
liv2 = EE_OpLockSp[1];
if(liv2<10 || liv2>100)EE_OpLockSp[1]=40;
liv1 = EE_OpLockTq[1];
if(liv1<7 || liv1>100)EE_OpLockTq[1]=30;
liv1 = EE_OpLockPos[1];
if(liv1<30 || liv1>200)EE_OpLockPos[1]=85;
liv2 = EE_ClLockSp[1];
if(liv2<10 || liv2>100)EE_ClLockSp[1]=30;
liv1 = EE_ClLockTq[1];
if(liv1<7 || liv1>100)EE_ClLockTq[1]=35;
liv1 = EE_ClLockPos[1];
if(liv1<30 || liv1>200)EE_ClLockPos[1]=85;
liv1 = EE_KPOnOff[1];
if(liv1!='y' && liv1!='n')EE_KPOnOff[1]='n';
liv1 = EE_KPTime[1];
if(liv1<1 || liv1>60)EE_KPTime[1]=20;
liv1 = EE_OpParkEn[1];
if(liv1!='y' && liv1!='n')EE_OpParkEn[1]='y';
liv1 = EE_OpParkTq[1];
if(liv1<7 || liv1>100)EE_OpParkTq[1]=15;
liv1 = EE_ClParkEn[1];
if(liv1!='y' && liv1!='n')EE_ClParkEn[1]='y';
liv1 = EE_ClParkTq[1];
if(liv1<7 || liv1>100)EE_ClParkTq[1]=10;
liv0=0;
if(DefaultSet=='B')liv0=0;
if(DefaultSet=='D')liv0=1;
DoorType = EE_DoorType[liv0];
OpMaxSp = EE_OpMaxSp[liv0];
ClMaxSp = EE_ClMaxSp[liv0];
OpMinSp = EE_OpMinSp[liv0];
ClMinSp = EE_ClMinSp[liv0];
OpTorque = EE_OpTorque[liv0];
ClTorque = EE_ClTorque[liv0];
OpDecel = EE_OpDecel[liv0];
ClDecel = EE_ClDecel[liv0];
OpBrakePos = EE_OpBrakePos[liv0];
ClBrakePos = EE_ClBrakePos[liv0];
OpLockSp = EE_OpLockSp[liv0];
OpLockTq = EE_OpLockTq[liv0];
OpLockPos = EE_OpLockPos[liv0];
ClLockSp = EE_ClLockSp[liv0];
ClLockTq = EE_ClLockTq[liv0];
ClLockPos = EE_ClLockPos[liv0];
KPTime = EE_KPTime[liv0];
KPOnOff = EE_KPOnOff[liv0];
OpParkEn = EE_OpParkEn[liv0];
OpParkTime = EE_OpParkTime[liv0];
OpParkTq = EE_OpParkTq[liv0];
ClParkEn = EE_ClParkEn[liv0];
ClParkTime = EE_ClParkTime[liv0];
ClParkTq = EE_ClParkTq[liv0];
calculate_close_ramp_pos_sp();
calculate_open_ramp_pos_sp();
}
//Load Default Values in EEPROM 'A' 'B' 'C' when press 'A' 'b' 'c'
void load_from_eeprom_values_in_RAM(unsigned char values_set)
{
unsigned char ledsv1;
if(values_set=='B')ledsv1=0;
else
if(values_set=='D')ledsv1=1;
else return;
DoorType = EE_DoorType[ledsv1];
OpMaxSp = EE_OpMaxSp[ledsv1];
ClMaxSp = EE_ClMaxSp[ledsv1];
OpMinSp = EE_OpMinSp[ledsv1];
ClMinSp = EE_ClMinSp[ledsv1];
OpTorque = EE_OpTorque[ledsv1];
ClTorque = EE_ClTorque[ledsv1];
OpDecel = EE_OpDecel[ledsv1];
ClDecel = EE_ClDecel[ledsv1];
OpBrakePos = EE_OpBrakePos[ledsv1];
ClBrakePos = EE_ClBrakePos[ledsv1];
OpLockSp = EE_OpLockSp[ledsv1];
OpLockTq = EE_OpLockTq[ledsv1];
OpLockPos = EE_OpLockPos[ledsv1];
ClLockSp = EE_ClLockSp[ledsv1];
ClLockTq = EE_ClLockTq[ledsv1];
ClLockPos = EE_ClLockPos[ledsv1];
KPTime = EE_KPTime[ledsv1];
KPOnOff = EE_KPOnOff[ledsv1];
OpParkEn = EE_OpParkEn[ledsv1];
OpParkTime = EE_OpParkTime[ledsv1];
OpParkTq = EE_OpParkTq[ledsv1];
ClParkEn = EE_ClParkEn[ledsv1];
ClParkTime = EE_ClParkTime[ledsv1];
ClParkTq = EE_ClParkTq[ledsv1];
calculate_close_ramp_pos_sp();
calculate_open_ramp_pos_sp();
}
//Save changed value of parameters in RAM at EEPROM 'A' 'B' 'C' when press 'ok?' at 11.factor set
void save_changed_values_in_eeprom(void)
{
unsigned char scvte1;
if(DefaultSet=='B')scvte1=0;
else
if(DefaultSet=='D')scvte1=1;
else return;
EE_DoorType[scvte1] = DoorType;
EE_OpMaxSp[scvte1] = OpMaxSp;
EE_ClMaxSp[scvte1] = ClMaxSp;
EE_OpMinSp[scvte1] = OpMinSp;
EE_ClMinSp[scvte1] = ClMinSp;
EE_OpTorque[scvte1] = OpTorque;
EE_ClTorque[scvte1] = ClTorque;
EE_OpDecel[scvte1] = OpDecel;
EE_ClDecel[scvte1] = ClDecel;
EE_OpBrakePos[scvte1] = OpBrakePos;
EE_ClBrakePos[scvte1] = ClBrakePos;
EE_OpLockSp[scvte1] = OpLockSp;
EE_OpLockTq[scvte1] = OpLockTq;
EE_OpLockPos[scvte1] = OpLockPos;
EE_ClLockSp[scvte1] = ClLockSp;
EE_ClLockTq[scvte1] = ClLockTq;
EE_ClLockPos[scvte1] = ClLockPos;
EE_KPTime[scvte1] = KPTime;
EE_KPOnOff[scvte1] = KPOnOff;
EE_OpParkEn[scvte1] = OpParkEn;
EE_OpParkTime[scvte1] = OpParkTime;
EE_OpParkTq[scvte1] = OpParkTq;
EE_ClParkEn[scvte1] = ClParkEn;
EE_ClParkTime[scvte1] = ClParkTime;
EE_ClParkTq[scvte1] = ClParkTq;
}
//Save changed value of parameters in RAM at EEPROM 'B' 'D' when press 'ok?' at 11.factor set
void load_original_values_to_eeprom(void)
{
if(DefaultSet=='B')
{
EE_DoorType[0] = 'a';
EE_OpMaxSp[0] = 140;
EE_ClMaxSp[0] = 140;
EE_OpMinSp[0] = 40;
EE_ClMinSp[0] = 50;
EE_OpTorque[0] = 25;
EE_ClTorque[0] = 25;
EE_OpDecel[0] = 70;
EE_ClDecel[0] = 80;
EE_OpBrakePos[0] = 200;
EE_ClBrakePos[0] = 175;
EE_OpLockSp[0] = 40;
EE_OpLockTq[0] = 30;
EE_OpLockPos[0] = 70;
EE_ClLockSp[0] = 30;
EE_ClLockTq[0] = 30;
EE_ClLockPos[0] = 70;
EE_KPOnOff[0] = 'n';
EE_KPTime[0] = 20;
EE_OpParkEn[0] = 'y';
EE_OpParkTime[0] = 0xFF;
EE_OpParkTq[0] = 15;
EE_ClParkEn[0] = 'y';
EE_ClParkTime[0] = 0xFF;
EE_ClParkTq[0] = 10;
}
else
if(DefaultSet=='D')
{
EE_DoorType[1] = 'c';
EE_OpMaxSp[1] = 140;
EE_ClMaxSp[1] = 100;
EE_OpMinSp[1] = 40;
EE_ClMinSp[1] = 30;
EE_OpTorque[1] = 25;
EE_ClTorque[1] = 25;
EE_OpDecel[1] = 45;
EE_ClDecel[1] = 50;
EE_OpBrakePos[1] = 200;
EE_ClBrakePos[1] = 150;
EE_OpLockSp[1] = 40;
EE_OpLockTq[1] = 30;
EE_OpLockPos[1] = 70;
EE_ClLockSp[1] = 30;
EE_ClLockTq[1] = 35;
EE_ClLockPos[1] = 70;
EE_KPOnOff[1] = 'n';
EE_KPTime[1] = 20;
EE_OpParkEn[1] = 'y';
EE_OpParkTime[1] = 0xFF;
EE_OpParkTq[1] = 15;
EE_ClParkEn[1] = 'y';
EE_ClParkTime[1] = 0xFF;
EE_ClParkTq[1] = 10;
}
else return;
}
void initial(void)
{
// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=Out Func1=Out Func0=Out
// State7=T State6=P State5=P State4=P State3=P State2=1 State1=1 State0=1
PORTA=0x7F;
DDRA=0x07;
// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=Out Func1=Out Func0=Out
// State7=T State6=T State5=P State4=P State3=T State2=0 State1=0 State0=0
PORTB=0x30;
DDRB=0x07;
// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTC=0x00;
DDRC=0x00;
// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T
PORTD=0x00;
DDRD=0x00;
// Port E initialization
// Func7=In Func6=In Func5=Out Func4=Out Func3=Out Func2=Out Func1=In Func0=In
// State7=T State6=T State5=0 State4=0 State3=0 State2=0 State1=T State0=T
PORTE=0x00;
#ifdef IRAMS
EN_MOTOR = 1; //disable motor
#else
EN_MOTOR = 0; //disable motor
#endif
U_PHASE = 0;
V_PHASE = 0;
W_PHASE = 0;
DDRE=0x3C;
// Port F initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=Out Func1=In Func0=Out
// State7=T State6=T State5=P State4=P State3=P State2=1 State1=P State0=1
PORTF=0x3F;
DDRF=0x05;
// Port G initialization
// Func4=In Func3=In Func2=In Func1=In Func0=In
// State4=T State3=T State2=T State1=T State0=T
PORTG=0x00;
DDRG=0x00;
// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 8000.000 kHz
// Mode: Normal top=FFh
// OC0 output: Disconnected
ASSR=0x00;
TCCR0=0x00;
TCNT0=0x00;
OCR0=0x00;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 62.500 kHz
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// OC1C output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: On
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x04;
TCNT1H=0xFD;
TCNT1L=0x8F;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
OCR1CH=0x00;
OCR1CL=0x00;
// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: 3.906 kHz
// Mode: Normal top=FFh
// OC2 output: Disconnected
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
OCR2=0x00;
// Timer/Counter 3 initialization
// Clock source: System Clock
// Clock value: 8000.000 kHz
// Mode: Ph. correct PWM top=00FFh
// Noise Canceler: Off
// Input Capture on Falling Edge
// OC3A output: Non-Inv.
// OC3B output: Non-Inv.
// OC3C output: Non-Inv.
// Timer 3 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
TCCR3A=0x00;//TCCR3A=0xA9;
TCCR3B=0x00;//TCCR3B=0x01;
TCNT3H=0x00;
TCNT3L=0x00;
ICR3H=0x00;
ICR3L=0x00;
OCR3AH=0x00;
OCR3AL=0x00;
OCR3BH=0x00;
OCR3BL=0x00;
OCR3CH=0x00;
OCR3CL=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
MCUCR=0x00;
MCUCSR=0x00;
// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x04; //enable timer1 ovf public for 10ms
ETIMSK=0x00;
TIMSK|=0x40; //ENABLE INTERRUPT 2 for ENC debounce
//TIMSK|=0x01; //ENABLE INTERRUPT 0 for angle++
// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// INT2: Off
// INT3: Off
// INT4: Off
// INT5: Off
// INT6: On
// INT6 Mode: Falling Edge
// INT7: Off
/*EICRA=0x00;
EICRB=0x20;
EIMSK=0x40;
EIFR=0x40; */
EICRA=0x00;
EICRB=0x00;
EIMSK=0x00;
EIFR=0x00;
// SPI initialization
// SPI Type: Master
// SPI Clock Rate: 2000.000 kHz
// SPI Clock Phase: Cycle Half
// SPI Clock Polarity: High
// SPI Data Order: MSB First
SPCR=0x58;
SPSR=0x00;
// Watchdog Timer initialization
// Watchdog Timer Prescaler: OSC/2048k
#pragma optsize-
WDTCR=0x1F;
WDTCR=0x0F;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif
#asm("SEI")
}
void calculate_close_ramp_pos_sp(void)
{
unsigned int ccrps1,ccrps2,ccrps3,ccrps4;
unsigned long int ccrps5;
ccrps3 = ClLockPos;
ccrps3 = ccrps3 * 10;
ccrps3 = ccrps3 / 19; //ccrps3 is cllocksp pulses
ccrps3 += 5;
FirstofLockPos = DoorWidth_pulses - ccrps3;
ccrps4 = FirstofLockPos;
ccrps4 *= 9;
ccrps1 = ClBrakePos;
if(ClDecel<20)ccrps5=20;
else ccrps5 = ClDecel;
ccrps5 = 100 + ccrps5;
ccrps5 = ccrps5 * ccrps1;
ccrps5 = ccrps5 / 10;
ccrps1 = ccrps5; // ccrps1 is 1st point of decel * 10
if(ccrps1>ccrps4)ccrps1=ccrps4; //if 1st point is greater than 0.9 DoorWidth_pulses
ccrps2 = ClBrakePos;
if(ClDecel>80)ccrps5=80;
else
if(ClDecel<20)ccrps5=20;
else ccrps5 = ClDecel;
ccrps5 = 100 - ccrps5;
ccrps5 = ccrps5 * ccrps2;
ccrps5 = ccrps5 / 10;
ccrps2 = ccrps5; // ccrps2 is last point of decel * 10
ccrps1 = ccrps1 - ccrps2; //length of brake ClBrakePos 1pulse = 1.9mm
ccrps1 = ccrps1 / 19; //change mm to pulse number
ccrps1++; //escape from critiacak value of zero
ccrps2 = ccrps2 / 19; //change mm to pulse number
close_ramp_pos[9] = DoorWidth_pulses - ccrps2;
close_ramp_pos[9] -= ccrps3;
ccrps1+=5; //rounding
ccrps1 = ccrps1 / 10;
close_ramp_pos[8] = close_ramp_pos[9] - ccrps1;
close_ramp_pos[7] = close_ramp_pos[8] - ccrps1;
close_ramp_pos[6] = close_ramp_pos[7] - ccrps1;
close_ramp_pos[5] = close_ramp_pos[6] - ccrps1;
close_ramp_pos[4] = close_ramp_pos[5] - ccrps1;
close_ramp_pos[3] = close_ramp_pos[4] - ccrps1;
close_ramp_pos[2] = close_ramp_pos[3] - ccrps1;
close_ramp_pos[1] = close_ramp_pos[2] - ccrps1;
close_ramp_pos[0] = close_ramp_pos[1] - ccrps1;
ccrps1 = ClMaxSp;
ccrps2 = ClMinSp;
if(ClMinSp<ClMaxSp)ccrps1 = ccrps1 - ccrps2;
else ccrps1 = ccrps2 - ccrps1;
ccrps1 = ccrps1 / 9;
close_ramp_sp[9] = ClMinSp;
close_ramp_sp[8] = close_ramp_sp[9] + ccrps1;
close_ramp_sp[7] = close_ramp_sp[8] + ccrps1;
close_ramp_sp[6] = close_ramp_sp[7] + ccrps1;
close_ramp_sp[5] = close_ramp_sp[6] + ccrps1;
close_ramp_sp[4] = close_ramp_sp[5] + ccrps1;
close_ramp_sp[3] = close_ramp_sp[4] + ccrps1;
close_ramp_sp[2] = close_ramp_sp[3] + ccrps1;
close_ramp_sp[1] = close_ramp_sp[2] + ccrps1;
close_ramp_sp[0] = ClMaxSp;
}
void calculate_open_ramp_pos_sp(void)
{
unsigned int ccrps1,ccrps2,ccrps3,ccrps4;
unsigned long int ccrps5;
ccrps4 = DoorWidth_pulses;
ccrps4 *= 9;
ccrps1 = OpBrakePos;
if(OpDecel<20)ccrps5=20;
else ccrps5 = ClDecel;
ccrps5 = 100 + ccrps5;
ccrps5 = ccrps5 * ccrps1;
ccrps5 = ccrps5 / 10;
ccrps1 = ccrps5; // ccrps1 is 1st point of decel * 10
if(ccrps1>ccrps4)ccrps1=ccrps4; //if 1st point is greater than 0.9 DoorWidth_pulses
ccrps2 = OpBrakePos;
if(OpDecel>80)ccrps5=80;
else
if(OpDecel<20)ccrps5=20;
else ccrps5 = OpDecel;
ccrps5 = 100 - ccrps5;
ccrps5 = ccrps5 * ccrps2;
ccrps5 = ccrps5 / 10;
ccrps2 = ccrps5; // ccrps2 is last point of decel * 10
ccrps1 = ccrps1 - ccrps2; //length of brake ClBrakePos 1pulse = 1.9mm
ccrps1 = ccrps1 / 19; //change mm to pulse number
ccrps1++; //escape from critiacak value of zero
ccrps1+=5; //rounding
ccrps1 = ccrps1 / 10;
ccrps2 = ccrps2 / 19; //change mm to pulse number
open_ramp_pos[9] = ccrps2;
open_ramp_pos[9] = open_ramp_pos[9] + ccrps1;
open_ramp_pos[8] = open_ramp_pos[9] + ccrps1;
open_ramp_pos[7] = open_ramp_pos[8] + ccrps1;
open_ramp_pos[6] = open_ramp_pos[7] + ccrps1;
open_ramp_pos[5] = open_ramp_pos[6] + ccrps1;
open_ramp_pos[4] = open_ramp_pos[5] + ccrps1;
open_ramp_pos[3] = open_ramp_pos[4] + ccrps1;
open_ramp_pos[2] = open_ramp_pos[3] + ccrps1;
open_ramp_pos[1] = open_ramp_pos[2] + ccrps1;
open_ramp_pos[0] = open_ramp_pos[1] + ccrps1;
ccrps1 = OpMaxSp;
ccrps2 = OpMinSp;
ccrps1 = ccrps1 - ccrps2; //1.5time of ClBrakePos
ccrps1 = ccrps1 / 9; //0.15time is step
open_ramp_sp[9] = OpMinSp;
open_ramp_sp[8] = open_ramp_sp[9] + ccrps1;
open_ramp_sp[7] = open_ramp_sp[8] + ccrps1;
open_ramp_sp[6] = open_ramp_sp[7] + ccrps1;
open_ramp_sp[5] = open_ramp_sp[6] + ccrps1;
open_ramp_sp[4] = open_ramp_sp[5] + ccrps1;
open_ramp_sp[3] = open_ramp_sp[4] + ccrps1;
open_ramp_sp[2] = open_ramp_sp[3] + ccrps1;
open_ramp_sp[1] = open_ramp_sp[2] + ccrps1;
open_ramp_sp[0] = OpMaxSp;
}
void key_navigation(unsigned char key_code)
{
unsigned char kn2;
//--------------page==0----------
if(page==0)
{
if(key_code=='M')
{
page=10;
menu_item=1;
select_item=0;
display_en=1;
}
}
//--------------page==1----------
else
if(page==1)
{
if(key_code=='U')
{
if(manual_mode)command='c';
else
if(page_1_state==0)page_1_state=1;
else
if(page_1_state==1)page_1_state=2;
else
if(page_1_state==2)page_1_state=0;
}
if(key_code=='D')
{
if(manual_mode)command='o';
else
if(page_1_state==0)page_1_state=2;
else
if(page_1_state==1)page_1_state=0;
else
if(page_1_state==2)page_1_state=1;
}
if(key_code=='M')
{
page=10;
menu_item=1;
select_item=0;
if(demo_mode_en)
{
demo_mode_en=0; //exit from demo mode
demo_mode_timer=0;
}
if(manual_mode)manual_mode=0;
}
display_en=1;
}
//--------------page==10---------- MAIN MENU
else
if(page==10)
{
if(key_code=='M')
{
page=1;
}
if(key_code=='U')
{
if(menu_item>1)menu_item--;
else menu_item=5;
}
if(key_code=='D')
{
if(menu_item<5)menu_item++;
else menu_item=1;
}
if(key_code=='E')
{
if(menu_item==1)
{ //1.CLOSE
page=20;
select_item=1;
}
else
if(menu_item==2) //2.OPEN
{
page=20;
select_item=1;
}
else
if(menu_item==3) //3.dir F
{
/* if(DoorDirection=='f')DoorDirection='r';
else DoorDirection='f';
EE_DoorDirection = DoorDirection; */
get_value_temp_i1=DoorDirection;
blink_value_on=1;
page=34;
/* kn2=direction;
direction=STP;
motor_command(kn2,speed); */
}
else
if(menu_item==4) //4.INP 1
{
/* if(InputCtrl=='1')InputCtrl='2';
else InputCtrl='1';
EE_InputCtrl = InputCtrl; */
get_value_temp_i1=InputCtrl;
blink_value_on=1;
page=35;
}
else
if(menu_item==5) //5.SETpl
{
get_value_temp_i1=DoorWidth;
blink_value_on=1;
page=31;
}
} //end of key_code=='e'
display_en=1;
} //end of page==10
else
if(page==20)
{
if(key_code=='M')
{
page=10;
}
if(key_code=='U')
{
if(select_item>1)select_item--;
else select_item=9;
}
if(key_code=='D')
{
if(select_item<9)select_item++;
else select_item=1;
}
if(key_code=='E')
{
if(menu_item==1)
{
blink_value_on=BLINK_VALUE_ON_TIME;
if(select_item==1){page=32;get_value_temp_i1=ClMaxSp;}
if(select_item==2){page=32;get_value_temp_i1=ClMinSp;}
if(select_item==3){page=32;get_value_temp_i1=ClBrakePos;}
if(select_item==4){page=31;get_value_temp_i1=ClTorque;}
if(select_item==5){page=40;sub_select_item=1;}
if(select_item==6){page=50;sub_select_item=1;}
if(select_item==7){page=31;get_value_temp_i1=ClDecel;}
if(select_item==8){page=33;get_value_temp_i1=KPOnOff;}
if(select_item==9){page=32;get_value_temp_i1=KPTime;}
}
else
if(menu_item==2)
{
blink_value_on=BLINK_VALUE_ON_TIME;
if(select_item==1){page=32;get_value_temp_i1=OpMaxSp;}
if(select_item==2){page=32;get_value_temp_i1=OpMinSp;}
if(select_item==3){page=32;get_value_temp_i1=OpBrakePos;}
if(select_item==4){page=31;get_value_temp_i1=OpTorque;}
if(select_item==5){page=40;sub_select_item=1;}
if(select_item==6){page=50;sub_select_item=1;}
if(select_item==7){page=31;get_value_temp_i1=OpDecel;}
if(select_item==8)blink_value_on=0;
if(select_item==9)blink_value_on=0; //{page=32;get_value_temp_i1=OPTout;}
}
}
display_en=1;
} //end of page==20
//-----------------------page=40 menu_item==5 LIST of PARK MENU
else
if(page==40)
{
if(key_code=='M')
{
page=20;
}
if(key_code=='U')
{
if(sub_select_item>1)sub_select_item--;
else sub_select_item=3;
}
if(key_code=='D')
{
if(sub_select_item<3)sub_select_item++;
else sub_select_item=1;
}
if(key_code=='E')
{
if(menu_item==1)
{
blink_value_on=BLINK_VALUE_ON_TIME;
if(sub_select_item==1){page=32;get_value_temp_i1=ClLockSp;}
if(sub_select_item==2){page=31;get_value_temp_i1=ClLockTq;}
if(sub_select_item==3){page=32;get_value_temp_i1=ClLockPos;}
}
else
if(menu_item==2)
{
blink_value_on=BLINK_VALUE_ON_TIME;
if(sub_select_item==1){page=32;get_value_temp_i1=OpLockSp;}
if(sub_select_item==2){page=31;get_value_temp_i1=OpLockTq;}
if(sub_select_item==3){page=32;get_value_temp_i1=OpLockPos;}
}
}
display_en=1;
} //end of page==20
//-----------------------page=50 menu_item==6 LIST of PARK MENU
else
if(page==50)
{
if(key_code=='M')
{
page=20;
}
if(key_code=='U')
{
if(sub_select_item>1)sub_select_item--;
else sub_select_item=3;