int initUARTWithInterrupts(){
POINTVAL_(IRQ_DISABLE1) = 1<<29; //disable MINI UART interrupts (just for safety). NOTE that mini uart is 29 (AUX)
ringInit();
unsigned int ra;
/* Firstly set up GPIO pins*/
ra = POINTVAL_(GPFSEL1); //get current register value
ra &= ~(0b111<<12); //unset registers 12-14 (for GPIO 14)
ra |= 0b010<<12; //set alternative function 5, which enables UART (on GPIO 14)
//the same for GPIO 15
ra &= ~(0b111<<15); //unset registers 12-14 (for GPIO 15)
ra |= 0b010<<15; //set alternative function 5, which enables UART (on GPIO 15)
POINTVAL_(GPFSEL1) = ra; //write set register value back
/* Configure UART */
POINTVAL_(AUX_ENABLES) = 0b1; //set 1st bit to 1, which enables mini UART
POINTVAL_(AUX_MU_IER_REG) = 0b101; //(THIS IS DIFFERENT FROM NON INTERRUPT UART) Enables receive interupts (note errors in doucmentation)
POINTVAL_(AUX_MU_LCR_REG) = 0b11; // first bit must set to enable 8-bit mode, 2nd bit must be set for some reason so that
//normal data are sent, but IMPORTANT..that is not mentioned in documentation !!
POINTVAL_(AUX_MU_MCR_REG) = 0; // set to 0 - nothing used
POINTVAL_(AUX_MU_IIR_REG) = 0b11000110; //(THIS IS DIFFERENT FROM NON INTERRUPT UART) (note errors in docs)
POINTVAL_(AUX_MU_BAUD_REG) = MINIUART_BAUD_RATE;
POINTVAL_(AUX_MU_CNTL_REG) = 0b11; //enable Tx, Rx
uart_putstring("UART with Interrupts inited\r\n");
POINTVAL_(IRQ_ENABLE1) = 1<<29;
return 0;
}
void circleRight(void)
{
IR_Read ir;
Data_t data;
List_t *list=NULL;
int i;
ringInit(&list,RINGSIZE);
/* Get initial readings */
for(i=0;i<RINGSIZE;i++)
{
/* Read from IRs */
readIR(&ir);
/* Convert to distance */
convertFullDistance(&ir,&data);
/* Push data onto the ring */
ringPush(&list,data);
delay(20);
}
setSpeed();
while(1)
{
if(i>80)
{
setSpeed();
i=0;
}
readIR(&ir);
convertFullDistance(&ir,&data);
// data.turn_angle = followRight(data.frontRight,data.backRight);
data.turn_angle = left(&data,&list->data);
setSteeringAngle(data.turn_angle);
ringPush(&list,data);
i++;
delay(60);
}
}
void navigation(void){
int i;
IR_Read ir;
Data_t data;
List_t *list=NULL;
ringInit(&list,RINGSIZE);
/* Get initial readings */
for(i=0;i<RINGSIZE;i++)
{
/* Read from IRs */
readIR(&ir);
/* Convert to distance */
convertFullDistance(&ir,&data);
data.trackState = DEFAULT;
/* Push data onto the ring */
ringPush(&list,data);
delay(20);
}
//delay(9000);
setSpeed();
i=0;
while(1)
{
if(i>80)
{
setSpeed();
i=0;
}
data.trackState = DEFAULT;
if(cooldown(list)) turnstate = STRAIGHT;
/* Read from IRs */
readIR(&ir);
/* Convert to distance */
convertFullDistance(&ir,&data);
/* Determine track state */
trackDetection(list,&data);
if(analogRead(AIN4)*0.0114 < 10)
{
digitalWrite(P8_9,HIGH);
}
else
{
digitalWrite(P8_9,LOW);
}
ringPush(&list,data);
if(turnstate==FOLLOWRIGHT)
{
data.turn_angle = right(&data,&list->data);
}
else if(turnstate==FOLLOWLEFT)
{
data.turn_angle = left(&data,&list->data);
}
else if(turnstate==STRAIGHT)
{
data.turn_angle = straight(&data,&list->data);
}
/* Update servo */
setSteeringAngle(data.turn_angle);
// printf("\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n");
// printf("Front Left Distance: %f, Front Left Sensor: %d\n",data.frontLeft,ir.FrontLeft);
// printf("Front Right Distance: %f, Front Right Sensor: %d\n",data.frontRight,ir.FrontRight);
// printf("Back Left Distance: %f, Back Left Sensor: %d\n",data.backLeft,ir.BackLeft);
// printf("Back Right Distance: %f, Back Right Sensor: %d\n",data.backRight,ir.BackRight);
// printf("Turn angle calculated: %d\n\n",data.turn_angle);
delay(60);
// if(data.trackState==FOLLOWRIGHT) turn_angle=trackStateHandling;
// else printf("Follow left\n");
// printf("Cooldown: %d\n",*cooldown);
i+=1;
}
}
