uint32_t adc_sample(const struct adc *adc)
{
uint32_t data;
adc_sel_in(adc->hw_idx);
adc_start();
while (ADCSRA & (1 << ADSC));
data = adc_data();
return data;
}
int main()
{
PINSEL0 = 0x00000000;
PINSEL1 = 0x00000000;
//PINSEL2 = 0x00000000;
Init_Peripherals();
adc_data();
DelaymSec(40);
Init_Peripherals();
LCD_4Bit_Mode();
LCD_Init();
LCD_Command(0x01);
DelaymSec(15);
while(1)
{
xTaskCreate(IR1,"IR1",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR1);
xTaskCreate(IR2,"IR2",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR2);
xTaskCreate(IR3,"IR3",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR3);
xTaskCreate(IR4,"IR4",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR4);
xTaskCreate(IR5,"IR5",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR5);
xTaskCreate(IR6,"IR6",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR6);
xTaskCreate(IR7,"IR7",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR7);
xTaskCreate(IR8,"IR8",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR8);
xTaskCreate(IR2_IR3,"IR2_IR3",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR2_IR3);
xTaskCreate(IR3_IR4,"IR3_IR4",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR3_IR4);
xTaskCreate(forward,"forward",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xforward);
xTaskCreate(IR2_IR3_IR4,"IR2_IR3_IR4",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xIR2_IR3_IR4);
xTaskCreate(lcdprint,"Display",configMINIMAL_STACK_SIZE,NULL,tskIDLE_PRIORITY+1,&xdisplay);
vTaskStartScheduler();
}
}
adc_interrupt()
{
value = adc_data();
}
main()
{
uint8_t state = 0;
serial_baud_9600();
serial_mode_8e1();
serial_transmitter_enable();
sleep_mode_idle();
pin13_mode_output();
pin13_low();
/* setup timer2 to trigger interrupt a
* once every millisecond
* 128 * (124 + 1) / 16MHz = 1ms */
timer2_mode_ctc();
timer2_clock_d128();
timer2_compare_a_set(124);
timer2_interrupt_a_enable();
adc_reference_internal_5v();
adc_pin_select(5);
adc_clock_d128();
adc_trigger_freerunning();
adc_trigger_enable();
adc_interrupt_enable();
adc_enable();
sei();
while (1) {
uint16_t value;
cli();
if (!new_value) {
sleep_enable();
sei();
sleep_cpu();
sleep_disable();
continue;
}
sei();
value = adc_data();
new_value = 0;
if (state && value < BOUND_LOW) {
uint16_t now = time;
char *p;
timer2_clock_reset();
time = 0;
pin13_low();
p = sprint_uint16_b10(buf, now);
*p++ = '\n';
*p = '\0';
serial_puts(buf);
state = 0;
continue;
}
if (value > BOUND_HIGH) {
pin13_high();
state = 1;
}
}
}
