//PING Sonar
//equations were taken from here and not independently verified:
//http://www.societyofrobots.com/member_tutorials/node/174
//http://www.societyofrobots.com/robotforum/index.php?topic=5123.msg40008
//http://www.societyofrobots.com/robotforum/index.php?topic=4656.30
//uses timer0
int sonar_Ping()
{
#define PINGPIN 0 // assign a pin to the Ping Sensor
#undef DDR
#undef PIN
#define DDR DDRC
#define PORT PORTC
#define PIN PINC
PORT_ON(DDR, PINGPIN); // Switch PingPin to OUPUT
// ------Trigger Pulse--------------
PORT_OFF(PORT, PINGPIN); // Bring PingPin low before starting trigger pulse
delay_us(2); // Wait for 2 microseconds
PORT_ON(PORT, PINGPIN); // Bring PingPin High for 5us according to spec sheet.
delay_us(5); // Wait for 5 microseconds
PORT_OFF(PORT, PINGPIN);; // Bring PingPin Low and standby
//--------End Trigger Pulse---------------------
FLIP_PORT(DDR, PINGPIN); // Switch PingPin to INPUT
loop_until_bit_is_set(PIN, PINGPIN); // Loop until the the PingPin goes high (macro found in sfr_def.h)
//clears timer, reset overflow counter
reset_timer0(); //reset timer 0
loop_until_bit_is_clear(PIN, PINGPIN); // Loop until the the PingPin goes low (macro found in sfr_def.h)
//read timer0's overflow counter
//255 is count before overflow, dependent on clock
return (get_timer0_overflow()*255+TCNT0) * 2.068965517;//elapsed time x conversion
}
static void
echo(double *ping_value,const uint8_t pingpin)
{
/*Round-trip-time, unit microseconds*/
uint16_t elapsed_time;
/* ------Trigger Pulse--------------------------*/
PORT_ON(DDR, pingpin);
PORT_OFF(PORT, pingpin);
_delay_us(2);
PORT_ON(PORT, pingpin);
_delay_us(5);
PORT_OFF(PORT, pingpin);
/*--------End Trigger Pulse---------------------*/
/*--------Meassure pulse------------------------*/
FLIP_PORT(DDR, pingpin);
loop_until_bit_is_set(PIN, pingpin);
reset_timer_0();
loop_until_bit_is_clear(PIN, pingpin);
/*--------Stop Meassure pulse-------------------*/
/* MAXCOUNTER is dependent on timer */
elapsed_time = (tot_overflow * MAXCOUNTER) + TCNT0;
/*Simple band-pass filter*/
if (elapsed_time >= ping_distance_max)
*ping_value = 0;
else if (elapsed_time <= ping_distance_min)
*ping_value = 0;
else
*ping_value = (elapsed_time * TO_CM);
_delay_us(250);
}
// Process Disconnect command and prepare response
// request: pointer to request data
// response: pointer to response data
// return: number of bytes in response
static uint32_t DAP_Disconnect(uint8_t *response) {
DAP_Data.debug_port = DAP_PORT_DISABLED;
PORT_OFF();
*response = DAP_OK;
return (1);
}
//Front and Back LEDS
void Lite(unsigned int val) {
if (val)
PORT_ON(PORTD,5);
else
PORT_OFF(PORTD,5);
}
void noconn_led(unsigned int val) {
if (val)
PORT_ON(PORTC,6);
else
PORT_OFF(PORTC,6);
}
void locked_led(unsigned int val) {
if (val)
PORT_ON(PORTC,5);
else
PORT_OFF(PORTC,5);
}
void repair_led(unsigned int val) {
if (val)
PORT_ON(PORTC,7);
else
PORT_OFF(PORTC,7);
}
void pin_led(unsigned int val) {
if (val)
PORT_ON(PORTC,3);
else
PORT_OFF(PORTC,3);
}
void hold_led(unsigned int val) {
if (val)
PORT_ON(PORTC,2);
else
PORT_OFF(PORTC,2);
}
int main(void)
{
uint16_t adc_result0, adc_result1, adc_result2, adc_result3, adc_result4;
DDRD = 0xff; //set PORTD for LED output
PORTD = 0x00; // output low - pull up resistance
DDRB = 0xff; //set PORTB for LED output
PORTB = 0x00; // output low - pull up resistance
//initialize adc
adc_init();
while(1)
{
adc_result0 = adc_read(0); //read adc value at PC0
adc_result1 = adc_read(1);
adc_result2 = adc_read(2);
adc_result3 = adc_read(3);
adc_result4 = adc_read(4);
//condition for LED to be on
if (adc_result0 > 200)
{
PORT_ON(PORTD,0);
PORT_ON(PORTD,1);
}
else
{
PORT_OFF(PORTD,0);
PORT_OFF(PORTD,1);
}
if (adc_result1 > 200)
{
PORT_ON(PORTD,2);
PORT_ON(PORTD,3);
}
else
{
PORT_OFF(PORTD,2);
PORT_OFF(PORTD,3);
}
if (adc_result2 > 200)
PORT_ON(PORTD,4);
else
PORT_OFF(PORTD,4);
if (adc_result3 > 200)
{
PORT_ON(PORTD,5);
PORT_ON(PORTD,6);
}
else
{
PORT_OFF(PORTD,5);
PORT_OFF(PORTD,6);
}
if (adc_result0 > 200)
{
PORT_ON(PORTD,7);
PORT_ON(PORTB,0);
}
else
{
PORT_OFF(PORTD,7);
PORT_OFF(PORTB,0);
}
}
}
void control(void)
{
reset_timer5();
uartFlushReceiveBuffer(1);
a2dSetReference(ADC_REFERENCE_256V);
delay_us(100);
PORT_OFF(PORTB,7);
while(1) {
char read = uart1GetByte();
if(read == 'U') { //Rangefinder only for the Hand! We only have 3 uart ports!
uart0SendByte(0x22); //sends 4 bytes with the command to read distance (0x22)
uart0SendByte(0x00); uart0SendByte(0x00);uart0SendByte(0x22);delay_us(50);
uart0GetByte(); //we don't care about this byte
rprintf("%d\r\n", 255*uart0GetByte() + uart0GetByte());
uart0GetByte(); //we don't care about this byte
} else if(read == 'L') {
rprintf("%d\r\n", 255 - a2dConvert8bit(0));
} else if(read == 'R') {
rprintf("%d\r\n", 255 - a2dConvert8bit(1));
} else if(read == 'D') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('s');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'E') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('s');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'M') {
int buff='#';
uart2SendByte('#'); uart2SendByte('o'); uart2SendByte('t');
uart2SendByte('#'); uart2SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart2GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart2GetByte()) != -1);
} else if(read == 'N') {
int buff='#';
uart3SendByte('#'); uart3SendByte('o'); uart3SendByte('t');
uart3SendByte('#'); uart3SendByte('f');
delay_ms(60); // Do not change this delay or you'll get in trouble!
while(1) {
buff = uart3GetByte();
if(buff==10 || buff==13 || buff==-1) {
uart1SendByte('\r');
uart1SendByte('\n');
break;
}
uart1SendByte(buff);
}
while((buff=uart3GetByte()) != -1);
} else if(read == 'P') {
PORT_ON(PORTB,6);
} else if(read == 'p') {
PORT_OFF(PORTB,6);
} else if(read == 'Q') {
PORT_ON(PORTB,7);
} else if(read == 'q') {
PORT_OFF(PORTB,7);
} else if(read == 'X') {
PORT_ON(PORTB,4);
} else if(read == 'x') {
PORT_OFF(PORTB,4);
} else if(read == 'Y') {
PORT_ON(PORTB,5);
} else if(read == 'y') {
PORT_OFF(PORTB,5);
}
delay_us(50);
}
}
