/**
* @brief Increment boot_time_ms variable and decrement timer array.
* @param None
* @retval None
*/
void timer_update_ms(void)
{
boot_time_ms++;
/* each timer decrements every millisecond if > 0 */
for (unsigned i = 0; i < NTIMERS; i++)
if (timer[i] > 0)
timer[i]--;
if (timer[TIMER_LED] == 0)
{
/* blink activitiy */
LEDToggle(LED_ACT);
timer[TIMER_LED] = LED_TIMER_COUNT;
}
if (timer[TIMER_SONAR] == 0)
{
sonar_trigger();
timer[TIMER_SONAR] = SONAR_TIMER_COUNT;
}
if (timer[TIMER_SYSTEM_STATE] == 0)
{
send_system_state_now = true;
timer[TIMER_SYSTEM_STATE] = SYSTEM_STATE_COUNT;
}
if (timer[TIMER_RECEIVE] == 0)
{
receive_now = true;
timer[TIMER_RECEIVE] = SYSTEM_STATE_COUNT;
}
if (timer[TIMER_PARAMS] == 0)
{
send_params_now = true;
timer[TIMER_PARAMS] = PARAMS_COUNT;
}
if (timer[TIMER_IMAGE] == 0)
{
send_image_now = true;
timer[TIMER_IMAGE] = global_data.param[PARAM_VIDEO_RATE];
}
if (timer[TIMER_LPOS] == 0)
{
send_lpos_now = true;
timer[TIMER_LPOS] = LPOS_TIMER_COUNT;
}
}
void sonar_init() {
sonar1_port.DIRCLR = echo1_mask; // set echo pin as input
sonar2_port.DIRCLR = echo2_mask;
sonar1_port.DIRSET = trigger_mask;
sonar_timer.CTRLA = TC_CLKSEL_DIV64_gc; // set divider to 64: 32 MHz / 64 = 500 kHz
sonar_timer.PER = 40000; // 500 kHz / 40000 = 12.5 Hz, 1/12.5 Hz = 80 ms to overflow
sonar_timer.INTCTRLA = TC_OVFINTLVL_LO_gc; // set overflow interrupt to low level
sonar1_port.PIN4CTRL = PORT_ISC_BOTHEDGES_gc; //Set pin interrupts to occur on the both edges
sonar2_port.PIN4CTRL = PORT_ISC_BOTHEDGES_gc;
sonar1_port.INT0MASK = echo1_mask; //Set echo pins in port to be part of an interrupt
sonar2_port.INT0MASK = echo2_mask;
sonar1_port.INTCTRL = TC_OVFINTLVL_LO_gc; // echo set to Medium Priority
sonar2_port.INTCTRL = TC_OVFINTLVL_LO_gc;
sonar_trigger();
}
int main()
{
// string buffer for printing to UART
uint8_t output[128];
// disable the clock prescaler
clock8MHz();
// disable interrupts during setup
cli();
uart_init(UART_38400);
sonar_init();
// enable interrupts
sei();
for (;;)
{
sonar_trigger();
_delay_ms(36);
if (sonar_echo_received() == 1) {
distance = 0.0171 * sonar_get_distance() - 0.8192;
snprintf((char*)output, 128, "distance %d\n\r", (int)distance);
print(output);
}else {
snprintf((char*)output, 128, "sonar failed\n\r");
print(output);
}
_delay_ms(1000);
}
return 0;
}
int main(void)
{
uint16_t counter;
char c;
uint8_t stop = TRUE;
usart_init();
sonar_init();
rtc_setup();
counter = 0;
usart_resume(0);
strcpy_P(usart->tx0_buffer, PSTR("\nTsunami Simulator "));
strcat_P(usart->tx0_buffer, PSTR(GITREL));
strcat_P(usart->tx0_buffer, PSTR("\n\nConnected!\n"));
usart_printstr(0, NULL);
rtc_start();
while (1) {
/* Restart the counter */
rtc_clear();
c = usart_getchar(0, FALSE);
switch (c) {
case '0':
stop = TRUE;
break;
case '1':
stop = FALSE;
break;
default:
break;
}
if (stop) {
/* stop the code */
while(usart_getchar(0, FALSE) != '1');
stop = FALSE;
rtc_clear();
}
/* send the trigger */
sonar_trigger();
/* clear all the data */
sonar_clear();
/*
* Wait 40mS maximum and collect all the
* data during the period.
*/
while (rtc_us < 4000)
sonar_set();
/*
* speed = ((i * SCALEuS)/1000000) * 340 / 2
* where:
* i * SCALEuS is the duration in uS of the signal.
* (i * SCALEuS)/1000000 is the same in seconds.
* 340 is the speed of the sound and
* /2 we need only half of the way.
* The simplyfied formula in cm.
* 340 mm/msec = 34cm/msec = 0.029 msec/cm = 29 uS/cm
* dist (cm) = T (uS) / 29 /2.
*/
usart->tx0_buffer = utoa(counter, usart->tx0_buffer, 10);
usart_printstr(0, NULL);
usart_printstr(0, " ");
counter++;
sonar_print();
/* if the counter has already reach 50mS,
* then this cycle takes too long.
*/
if (rtc_us > 5000)
usart_printstr(0, "Warning! Time overrun.\n");
/* Wait up to 50mS before restart */
while (rtc_us < 5000);
}
return(0);
}
void sonar_update_fn(void) {
sonar_trigger();
}
