{"id":330,"date":"2018-01-15T05:16:09","date_gmt":"2018-01-15T07:16:09","guid":{"rendered":"http:\/\/vejas.defas.lt\/?p=330"},"modified":"2018-10-30T03:56:36","modified_gmt":"2018-10-30T05:56:36","slug":"arduino-programos-kodas","status":"publish","type":"post","link":"http:\/\/vejas.defas.lt\/?p=330","title":{"rendered":"Arduino programos kodas"},"content":{"rendered":"<pre style=\"font-size: small;\">#include &lt;SPI.h&gt;\r\nconst int markeris=8;\r\nconst int klaida=4;\r\nconst int VejoPin=3;\r\nconst int Power1=5;\r\nconst int Power2=6;\r\nconst int VGROUT=2;\/\/sukeiciau 2 ir 7 vietomis, kad tur42iau pertraukima, kurie galimi 2 ir 3 pin'uose UNO versijai\r\nconst int TempCL=7;\r\nbyte buf[256];\r\nbyte BETZ[256]={0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x02,0x02,0x02,0x02,0x02,0x02,0x02,0x03,0x03,0x03,0x03,0x03,0x03,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x05,0x05,0x05,0x05,0x05,0x05,0x05,0x06,0x06,0x06,0x06,0x07,0x07,0x07,0x08,0x08,0x08,0x08,0x09,0x09,0x09,0x0A,0x0A,0x0A,0x0A,0x0B,0x0B,0x0B,0x0C,0x0C,0x0C,0x0D,0x0D,0x0D,0x0E,0x0E,0x0E,0x0F,0x10,0x11,0x11,0x12,0x12,0x13,0x14,0x14,0x15,0x15,0x16,0x17,0x17,0x18,0x18,0x19,0x1A,0x1A,0x1B,0x1B,0x1C,0x1C,0x1D,0x1E,0x1F,0x1F,0x20,0x20,0x21,0x22,0x23,0x24,0x25,0x25,0x26,0x27,0x28,0x29,0x2A,0x2B,0x2C,0x2D,0x2E,0x2F,0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39,0x3A,0x3B,0x3C,0x3E,0x3F,0x40,0x41,0x42,0x43,0x44,0x45,0x46,0x48,0x49,0x4B,0x4D,0x4E,0x4F,0x52,0x53,0x55,0x57,0x58,0x5A,0x5C,0x5D,0x5F,0x60,0x62,0x64,0x65,0x66,0x67,0x69,0x6A,0x6C,0x6E,0x6F,0x71,0x72,0x73,0x74,0x76,0x78,0x7B,0x7D,0x80,0x83,0x85,0x88,0x8A,0x8D,0x8F,0x92,0x94,0x97,0x9A,0x9C,0x9D,0x9F,0xA1,0xA4,0xA6,0xA9,0xAC,0xAE,0xB1,0xB4,0xB6,0xB9,0xBB,0xBF,0xC1,0xC2,0xC3,0xC5,0xC6,0xC8,0xCA,0xCC,0xCE,0xD0,0xD2,0xD4,0xD6,0xD8,0xDA,0xDC,0xDE,0xE0,0xE1,0xE3,0xE5,0xE7,0xE9,0xEB,0xED,0xEF,0xF1,0xF3,0xF4,0xF7,0xF9,0xFB,0xFD,0xFF};\r\nbyte dat[256];\/\/={0x82,0xA9,0x0f,0x12,0x55,0x66,0x77,0x88,0x99,0x0A,0x19,0x28,0x37,0x46,0x55,0x00,0x00,0x00,0x00,0x00,0x00,0x00};\r\nbyte checksumreal,komanda,clr;\r\nint komilgis;\r\nboolean beginas=false;\r\nboolean process_error=false;\r\nbyte checksumsend=0;\r\nint ctklaida=0;\r\nvolatile boolean doprint=false;\r\nvolatile byte pos;\r\nsigned long GenDaznis_us, prev_time_GenD, VejoGreitis_us, prev_time_us;\r\nvolatile boolean process_it;\r\n#define cbi(sfr, bit) (_SFR_BYTE(sfr) &amp;= ~_BV(bit))    \/\/Speedup the analogRead() function\r\n#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))      \/\/Speedup the analogRead() function\r\nvoid setup (void){\r\n  Serial.begin (115200);         \/\/ debugging\r\n  pinMode(markeris, OUTPUT);\r\n  pinMode(klaida, OUTPUT);\r\n  pinMode(VGROUT, INPUT);\r\n  pinMode(Power1, OUTPUT);\r\n  pinMode(Power2, OUTPUT);\r\n  pinMode(MISO, OUTPUT);         \/\/ have to send on master in, *slave out*\r\n  SPCR |= _BV(SPE);              \/\/ turn on SPI in slave mode, get ready for an interrupt \r\n  clr=SPSR;\r\n  clr=SPDR;\r\n  delay(10);\r\n  ctklaida=0;\r\n  pos = 0;                       \/\/ buffer empty\r\n  checksumsend=0;\r\n  process_it = false;\r\n  SPI.attachInterrupt();         \/\/ now turn on interrupts\r\n  sbi(ADCSRA, ADPS2);    \/\/Speedup the analogRead() functionSS\r\n  cbi(ADCSRA, ADPS1);\r\n  cbi(ADCSRA, ADPS0);\r\n  digitalWrite(klaida, LOW);\r\n  attachInterrupt(digitalPinToInterrupt(VejoPin), rising, RISING);\r\n  attachInterrupt(digitalPinToInterrupt(VGROUT), rising1, RISING);\r\n  \/\/pinMode(TempCL, OUTPUT);\r\n  \/\/setPwmFrequency(TempCL,1);\r\n  \/\/analogWrite(TempCL, 127);\r\n} \r\nISR (SPI_STC_vect){              \/\/ SPI interrupt routine\r\n  digitalWrite(markeris, HIGH);\r\n  byte c = SPDR;                 \/\/ grab byte from SPI Data Register\r\n  byte z = 0;\r\n  if (c==0x81 and beginas==false) {\/\/0X81 hex'E - PAKETO PIRMAS BAITAS\r\n    beginas=true;checksumreal=0;komilgis=0;pos=0;checksumsend=0; \r\n  }  \r\n  if (beginas==true) {\r\n    buf[pos]=c;\r\n    checksumreal+=c; \r\n    switch (pos) {\r\n      case 0:     z=dat[pos];\r\n                  checksumsend+=dat[pos]; \r\n                  break;\r\n      case 1:     z=dat[pos];\r\n                  checksumsend+=dat[pos]; \r\n                  komanda=c;\r\n                  break;\r\n      case 2:     z=dat[pos];\r\n                  checksumsend+=dat[pos]; \r\n                  komilgis=c; \r\n                  break;\r\n      default: \r\n                if ((komanda &amp; 0xF8)==0x30) {\r\n                  if (pos&lt;(komilgis+3)) {\r\n                    BETZ[(komanda &amp; 0x07)* 32 + pos-3]=c;    \/\/Komandos A8-AF apraso, kuris is astuoniu paketas bus irasytas i BETZ masyva. Viename pakete 32 baitai. A8: 0-32 masyvo baitai AF - 224-256 baitai\r\n                  }\r\n                } else if ((komanda &amp; 0xF8)==0x40) {\r\n                   z=BETZ[(komanda &amp; 0x07)* 32 + pos-3];\r\n                } else {\r\n                  \/\/Serial.println(\"Komanda kita \");\r\n                   z=dat[pos];\r\n                } \r\n                if (pos==(komilgis+3)) {\r\n                   dat[pos]=255-checksumsend;\r\n                   z=dat[pos];\r\n                  } else if (pos==(komilgis+4)) {\r\n                   z=0x55;\r\n                   process_it=true;\r\n                   checksumsend=0;\r\n                   pos=0;\r\n                   beginas=false;\r\n                   if (checksumreal==0xFF) {\r\n                       process_error=false;\r\n                      } else {\r\n                       process_error=true;\r\n                      digitalWrite(klaida, HIGH);\r\n                   }\r\n                } else {\r\n                   checksumsend+=z; \r\n                }  \r\n    }\r\n    SPDR=z;  \r\n    if (pos &lt; sizeof(buf)) pos++; else { pos=0;beginas=false; } } digitalWrite(markeris, LOW); } void loop (void){ byte apkr; unsigned long TPM; unsigned int VGRmpers, x, CL, CH, GL, GH, TPL, TPH;\/\/unsigned int - 0...256, signed int, -127...+127 reiksmes if (process_it) {process_it = false;} x=analogRead(A0); dat[3]=lowByte(x); dat[4]=highByte(x); x=analogRead(A1); dat[5]=lowByte(x); dat[6]=highByte(x); x=analogRead(A2); dat[7]=lowByte(x); dat[8]=highByte(x); x=analogRead(A3); dat[9]=lowByte(x); dat[10]=highByte(x); x=analogRead(A4); dat[11]=lowByte(x); dat[12]=highByte(x); x=analogRead(A5); dat[13]=lowByte(x); dat[14]=highByte(x); CH=VejoGreitis_us&gt;&gt;16; CL=VejoGreitis_us;\r\n  dat[15]=lowByte(CL); dat[16]=highByte(CL); dat[17]=lowByte(CH); dat[18]=highByte(CH);\/\/vejo greicio perdavimas 4 baitai\r\n  GH=GenDaznis_us&gt;&gt;16; GL=GenDaznis_us;\r\n  dat[19]=lowByte(GL); dat[20]=highByte(GL); dat[21]=lowByte(GH); dat[22]=highByte(GH);\/\/generatoriaus daznio perdavimas 4 baitai\r\n  TPM=millis(); TPH=TPM&gt;&gt;16; TPL=TPM;\r\n  dat[23]=lowByte(TPL); dat[24]=highByte(TPL); dat[25]=lowByte(TPH); dat[26]=highByte(TPH);\/\/TPL \/\/TPH\r\n  \/\/paruosiame apkrovai vejo greit\u012f padaugint\u0105 i\u0161 16 (u\u017epildysime 0-16m\/s kiekvien\u0105 i\u0161 16 v\u0117jo greicio 16 tarpini\u0173 reiksmiu - viso 256 reiksmes)\r\n  VGRmpers=1000000*16\/12\/VejoGreitis_us;\/\/VGRmpers rei\u0161kia v\u0117jo greit\u012f padaugint\u0105 is 16, 12 - v\u0117jo daviklio charakteristika tiek mimpuls\u0173 per sekund\u0119 esant 1m\/sek v\u0117jo grei\u010diui\r\n  analogWrite(Power1, BETZ[VGRmpers]);\r\n  analogWrite(Power2, BETZ[VGRmpers]);\r\n}\r\nvoid SePrHe(int x) {\r\nif (x&lt;16) {\r\n    Serial.print(\"0\");\r\n    Serial.print(x, HEX);\r\n  } else {\r\n    Serial.print(x, HEX);\r\n  }\r\n  Serial.print(\" \");\r\n  return;\r\n}\r\nvoid rising() {\r\n  attachInterrupt(digitalPinToInterrupt(VejoPin), falling, FALLING);\r\n  GenDaznis_us=micros()-prev_time_GenD;\r\n  prev_time_GenD = micros();\r\n}\r\nvoid falling() {\r\n  attachInterrupt(digitalPinToInterrupt(VejoPin), rising, RISING);\r\n}\r\nvoid rising1() {\r\n  attachInterrupt(digitalPinToInterrupt(VGROUT), falling1, FALLING);\r\n  VejoGreitis_us=micros()-prev_time_us;\r\n  prev_time_us = micros();\r\n}\r\nvoid falling1() {\r\n  attachInterrupt(digitalPinToInterrupt(VGROUT), rising1, RISING);\r\n}\r\nvoid setPwmFrequency(int pin, int divisor) {\r\n  byte mode;\r\n  if(pin == 5 || pin == 6 || pin == 9 || pin == 10) {\r\n    switch(divisor) {\r\n      case 1: mode = 0x01; break;\r\n      case 8: mode = 0x02; break;\r\n      case 64: mode = 0x03; break;\r\n      case 256: mode = 0x04; break;\r\n      case 1024: mode = 0x05; break;\r\n      default: return;\r\n    }\r\n    if(pin == 5 || pin == 6) {\r\n      TCCR0B = TCCR0B &amp; 0b11111000 | mode;\r\n    } else {\r\n      TCCR1B = TCCR1B &amp; 0b11111000 | mode;\r\n    }\r\n  } else if(pin == 3 || pin == 11) {\r\n    switch(divisor) {\r\n      case 1: mode = 0x01; break;\r\n      case 8: mode = 0x02; break;\r\n      case 32: mode = 0x03; break;\r\n      case 64: mode = 0x04; break;\r\n      case 128: mode = 0x05; break;\r\n      case 256: mode = 0x06; break;\r\n      case 1024: mode = 0x07; break;\r\n      default: return;\r\n  }\r\n  TCCR2B = TCCR2B &amp; 0b11111000 | mode;\r\n}\r\n}\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"<p>#include &lt;SPI.h&gt; const int markeris=8; const int klaida=4; const int VejoPin=3; const int Power1=5; const int Power2=6; const int VGROUT=2;\/\/sukeiciau 2 ir 7 vietomis, kad tur42iau pertraukima, kurie galimi 2 ir 3 pin&#8217;uose UNO versijai const int TempCL=7; byte buf[256]; byte BETZ[256]={0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x02,0x02,0x02,0x02,0x02,0x02,0x02,0x03,0x03,0x03,0x03,0x03,0x03,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x05,0x05,0x05,0x05,0x05,0x05,0x05,0x06,0x06,0x06,0x06,0x07,0x07,0x07,0x08,0x08,0x08,0x08,0x09,0x09,0x09,0x0A,0x0A,0x0A,0x0A,0x0B,0x0B,0x0B,0x0C,0x0C,0x0C,0x0D,0x0D,0x0D,0x0E,0x0E,0x0E,0x0F,0x10,0x11,0x11,0x12,0x12,0x13,0x14,0x14,0x15,0x15,0x16,0x17,0x17,0x18,0x18,0x19,0x1A,0x1A,0x1B,0x1B,0x1C,0x1C,0x1D,0x1E,0x1F,0x1F,0x20,0x20,0x21,0x22,0x23,0x24,0x25,0x25,0x26,0x27,0x28,0x29,0x2A,0x2B,0x2C,0x2D,0x2E,0x2F,0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39,0x3A,0x3B,0x3C,0x3E,0x3F,0x40,0x41,0x42,0x43,0x44,0x45,0x46,0x48,0x49,0x4B,0x4D,0x4E,0x4F,0x52,0x53,0x55,0x57,0x58,0x5A,0x5C,0x5D,0x5F,0x60,0x62,0x64,0x65,0x66,0x67,0x69,0x6A,0x6C,0x6E,0x6F,0x71,0x72,0x73,0x74,0x76,0x78,0x7B,0x7D,0x80,0x83,0x85,0x88,0x8A,0x8D,0x8F,0x92,0x94,0x97,0x9A,0x9C,0x9D,0x9F,0xA1,0xA4,0xA6,0xA9,0xAC,0xAE,0xB1,0xB4,0xB6,0xB9,0xBB,0xBF,0xC1,0xC2,0xC3,0xC5,0xC6,0xC8,0xCA,0xCC,0xCE,0xD0,0xD2,0xD4,0xD6,0xD8,0xDA,0xDC,0xDE,0xE0,0xE1,0xE3,0xE5,0xE7,0xE9,0xEB,0xED,0xEF,0xF1,0xF3,0xF4,0xF7,0xF9,0xFB,0xFD,0xFF}; byte dat[256];\/\/={0x82,0xA9,0x0f,0x12,0x55,0x66,0x77,0x88,0x99,0x0A,0x19,0x28,0x37,0x46,0x55,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; byte checksumreal,komanda,clr; int komilgis; boolean beginas=false; boolean process_error=false; byte checksumsend=0; int &hellip; <a href=\"http:\/\/vejas.defas.lt\/?p=330\" class=\"more-link\">Skaityti toliau: <span class=\"screen-reader-text\">Arduino programos kodas<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_bbp_topic_count":0,"_bbp_reply_count":0,"_bbp_total_topic_count":0,"_bbp_total_reply_count":0,"_bbp_voice_count":0,"_bbp_anonymous_reply_count":0,"_bbp_forum_subforum_count":0,"footnotes":""},"categories":[1],"tags":[],"class_list":["post-330","post","type-post","status-publish","format-standard","hentry","category-be-kategorijos"],"acf":[],"_links":{"self":[{"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=\/wp\/v2\/posts\/330","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=330"}],"version-history":[{"count":6,"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=\/wp\/v2\/posts\/330\/revisions"}],"predecessor-version":[{"id":467,"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=\/wp\/v2\/posts\/330\/revisions\/467"}],"wp:attachment":[{"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=330"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=330"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/vejas.defas.lt\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=330"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}