Micron UV Robotic Arm

/* ========================================
 *
 * Copyright YOUR COMPANY, THE YEAR
 * All Rights Reserved
 * UNPUBLISHED, LICENSED SOFTWARE.
 *
 * CONFIDENTIAL AND PROPRIETARY INFORMATION
 * WHICH IS THE PROPERTY OF your company.
 *
 * ========================================
*/
#include "project.h"
#include "spi_comm.h"
#include "tle94112.h"
#include "pwm.h"
#include "ssd1608.h"
#include "images.h"

void TimerCounterStart();
void uv_config_table();
void uv_config_printer();
void uv_config_gym();
void uv_cleaning(uint8_t mode);
uint8_t motion_detected=0;
uint16_t debug[10];

uint8_t mode =0;

CY_ISR_PROTO(GPIOIsrHandler);

CY_ISR(GPIOIsrHandler)
{
    /* Clear pending Interrupt */
    isr_GPIO_ClearPending(); 
    
    SW1_ClearInterrupt();
    
  
   mode++;
   GLED_Write(1);
   if(mode >2) mode =0;

   switch(mode)
{
    case 0:  
    eink154_displayImage(gImage_epd_table);
    uv_config_table();
    break;
    case 1:
    eink154_displayImage(gImage_epd_print);
    uv_config_printer();
    break;
    case 2:
    eink154_displayImage(gImage_epd_gym);
    uv_config_gym();
    break;
}
    
}

CY_ISR(TC_InterruptHandler)
{
    /* Clears the Timer terminal count interrupt */
    Timer_ClearInterrupt(Timer_INTR_MASK_TC);
    
    GLED_Write(0);
    CyDelay(1000);
    uv_cleaning(0);
    uv_cleaning(0);
    CyDelay(1000);
    GLED_Write(1);
    
}

void uv_cleaning(uint8_t mode)
{ 
    setangle(0,0,60);
    CyDelay(1000);
    setangle(0,130,60);
    CyDelay(1000);    
}


void uv_config_table()
{
    setangle(0,60,60);
    setangle(1,150,60);
    setangle(2,80,60); 
    
}

void uv_config_printer()
{
    
    setangle(0,60,60);
    setangle(1,10,60);
    setangle(2,40,60);    
    
}

void uv_config_gym()
{
    
    setangle(0,60,60);
    setangle(1,90,60);
    setangle(2,100,60);    
    
}

void set_timeout(uint8_t mode)
{
    if(mode == 1)
    {
        RLED_Write(0);
        GLED_Write(1);
        motion_detected = 1;
    }
    else
    {
        RLED_Write(1);
        
        if(motion_detected)
        {
        TimerCounterStart();
        //clean
        motion_detected=0;
        }
    }
 		   
    
}


void TimerCounterStart()
{
    
    /* Starts the timer */
    Timer_Start();
    
    /* Enable interrupt component and set up handler */
    TC_Interrupt_StartEx(TC_InterruptHandler);
    
}

int main(void)
{
    
    	/* Proximity sensor state. */
	uint8 proximity  = INACTIVE;
    
	/* This variable is used to implement a software counter. If the value
	 * of this counter is greater than 100, the proximity sensor was inactive
	 * for more than 3s. */
	uint8 softCounter = RESET;

	/* Variable to store the WDT match value. */
	uint16 currentCountVal = ZERO;

	/* Variable to determine whether to update the WDT match value. */
	uint8 updateMatch = UPDATE_100MS;
    
    //isr_GPIO_Start();
    
      /* Sets up the GPIO interrupt and enables it */
    isr_GPIO_StartEx(GPIOIsrHandler);

    
    CyGlobalIntEnable; /* Enable global interrupts. */

    /* Place your initialization/startup code here (e.g. MyInst_Start()) */
    
       /* Start SPIS and SPIM components operation */
    SPIM_Start();
    
 /* Sets up the GPIO interrupt and enables it */

    PWM_1_Start();
    PWM_2_Start();

    DC_Write(1);
    RES_Write(1);
    
    
	/* Enable and start the CapSense block. */
	CapSense_Start();

	/* Initialize the baselines of all CapSense widgets. */
	CapSense_InitializeSensorBaseline(CapSense_SENSOR_PROXIMITYSENSOR_0__PROX);

    
    eink154_startConfig();
    eink154_setLut();
    eink154_displayImage(gImage_epd_table);
    

    while(1)
    {      
      
        
/* Update the baseline of the proximity sensor. */
		CapSense_UpdateSensorBaseline(CapSense_SENSOR_PROXIMITYSENSOR_0__PROX);

		/* Scan the proximity sensor. */
		CapSense_ScanSensor(CapSense_SENSOR_PROXIMITYSENSOR_0__PROX);

		/* Wait till the scan is complete*/
		while(CapSense_IsBusy())
		{
			/* Put the PSoC 4200M in Sleep power mode while the CapSense is scanning.
			 * The device wakes up using the interrupt generated by CapSense CSD Component
			 * after scanning. */
			CySysPmSleep();
		}

		/* Check if proximity sensor is active. */
		proximity = CapSense_CheckIsSensorActive(CapSense_SENSOR_PROXIMITYSENSOR_0__PROX);

		if(proximity == ACTIVE)
		{
			/* Set the LED at a brightness level corresponding
			 * to the proximity distance. */
			//LED1_SetBrightness(ON);
            set_timeout(1);
			/* Update the WDT if required. */
			if(updateMatch == UPDATE_30MS)
			{
				/* Configure the wake up period to 30ms and update WDT match value. */
		    	CySysWdtWriteMatch(CY_SYS_WDT_COUNTER0, WDT_MATCH_VALUE_30MS);

				/* Read the current count value of the WDT. */
			    currentCountVal = CySysWdtReadCount(CY_SYS_WDT_COUNTER0);

				/* Reset the counter if the count value is greater than
				 * the match value */
			    if (currentCountVal > WDT_MATCH_VALUE_30MS)
			    {
			        CySysWdtResetCounters(CY_SYS_WDT_COUNTER0_RESET);
				}

				/* Provide a delay to allow the changes on WDT register to take
				 * effect. This is approximately 4 LFCLK cycles. */
				CyDelayUs(ILOX4);

				/* Next update to the WDT match value is required only when
				 * switching to 100ms scan interval. */
				updateMatch = UPDATE_100MS;
			}

			/* Reset the software counter if proximity is detected. */
			softCounter = RESET;

			/* Put CPU in sleep mode after displaying output on LED. */
			//CySysPmSleep();
		}
		else /* Proximity sensor is inactive. */
		{
			/* Switch off the LED if proximity is not detected. */
			//LED1_SetBrightness(OFF);
            set_timeout(0); 
			/* Increment the software counter every 30ms if proximity is not detected. */
			softCounter++;

			/* Set the maximum limit for the soft counter. */
			if(softCounter >= MAX_VALUE)
			{
				/* Set the maximum limit for the softCounter. */
				softCounter = MAX_VALUE;

				/* Update the WDT if required. */
				if(updateMatch == UPDATE_100MS)
				{
					/* Proximity sensor is inactive for more than 3s.
					 * Increase Deep-Sleep duration to 100ms and update WDT match value. */
			    	CySysWdtWriteMatch(CY_SYS_WDT_COUNTER0, WDT_MATCH_VALUE_100MS);

					/* Read the current count value of the WDT. */
				    currentCountVal = CySysWdtReadCount(CY_SYS_WDT_COUNTER0);

					/* Reset the counter if the count value is greater than
					 * the match value */
				    if (currentCountVal > WDT_MATCH_VALUE_100MS)
				    {
				        CySysWdtResetCounters(CY_SYS_WDT_COUNTER0_RESET);
					}

					/* Provide a delay to allow the changes on WDT register to take
					 * effect. This is approximately 4 LFCLK cycles. */
					CyDelayUs(ILOX4);

					/* Next update to the WDT match value is required only when
					 * switching to 30ms scan interval. */
					updateMatch = UPDATE_30MS;
				}
			}        
        
        
     }   
    }

    

}



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