Exemple #1
0
void Setup_configInterrupts(void)
{
    ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_6);
    ConfigIntCapture2(IC_INT_ON | IC_INT_PRIOR_6);
    ConfigIntCapture3(IC_INT_ON | IC_INT_PRIOR_6);
    ConfigIntCapture4(IC_INT_ON | IC_INT_PRIOR_6);
    ConfigIntCapture5(IC_INT_ON | IC_INT_PRIOR_6);
}
int main(void)
{
//LOCALS
	unsigned int temp;
	unsigned int channel1, channel2;
	M1_stepPeriod = M2_stepPeriod = M3_stepPeriod = M4_stepPeriod = 50; // in tens of u-seconds
	unsigned char M1_state = 0, M2_state = 0, M3_state = 0, M4_state = 0;

	SYSTEMConfig(GetSystemClock(), SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE);

/* TIMER1 - now configured to interrupt at 10 khz (every 100us) */
	OpenTimer1(T1_ON | T1_SOURCE_INT | T1_PS_1_1, T1_TICK);
	ConfigIntTimer1(T1_INT_ON | T1_INT_PRIOR_2);
/* TIMER2 - 100 khz interrupt for distance measure*/
	OpenTimer2(T2_ON | T2_SOURCE_INT | T2_PS_1_1, T2_TICK);
	ConfigIntTimer2(T2_INT_ON | T2_INT_PRIOR_3); //It is off until trigger

/* PORTA b2 and b3 for servo-PWM */
	mPORTAClearBits(BIT_2 | BIT_3);
	mPORTASetPinsDigitalOut(BIT_2 | BIT_3);

/* ULTRASONICS: some bits of PORTB for ultrasonic sensors */
	PORTResetPins(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11 );	
	PORTSetPinsDigitalOut(IOPORT_B, BIT_8 | BIT_9| BIT_10 | BIT_11); //trigger
/* Input Capture pins for echo signals */
	//interrupt on every risging/falling edge starting with a rising edge
	PORTSetPinsDigitalIn(IOPORT_D, BIT_8| BIT_9| BIT_10| BIT_11); //INC1, INC2, INC3, INC4 Pin
	mIC1ClearIntFlag();
	OpenCapture1(  IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//front
	ConfigIntCapture1(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
	OpenCapture2(  IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//back
	ConfigIntCapture2(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
	OpenCapture3(  IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//left
	ConfigIntCapture3(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);
	OpenCapture4(  IC_EVERY_EDGE | IC_INT_1CAPTURE | IC_TIMER2_SRC | IC_ON );//right
	ConfigIntCapture4(IC_INT_ON | IC_INT_PRIOR_4 | IC_INT_SUB_PRIOR_3);

/* PINS used for the START (RD13) BUTTON */
    PORTSetPinsDigitalIn(IOPORT_D, BIT_13);
	#define CONFIG          (CN_ON | CN_IDLE_CON)
	#define INTERRUPT       (CHANGE_INT_ON | CHANGE_INT_PRI_2)
	mCNOpen(CONFIG, CN19_ENABLE, CN19_PULLUP_ENABLE);
	temp = mPORTDRead();

/* PORT D and E for motors */
	//motor 1
	mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7); 		// Turn on PORTD on startup.
	mPORTDSetPinsDigitalOut(BIT_4 | BIT_5 | BIT_6 | BIT_7);	// Make PORTD output.
	//motor 2
	mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4); 		// Turn on PORTC on startup.
	mPORTCSetPinsDigitalOut(BIT_1 | BIT_2 | BIT_3 | BIT_4);	// Make PORTC output.
	//motor 3 and 4
	mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
					BIT_4 | BIT_5 | BIT_6 | BIT_7); 		// Turn on PORTE on startup.
	mPORTESetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
					BIT_4 | BIT_5 | BIT_6 | BIT_7);	// Make PORTE output.

// UART2 to connect to the PC.
	// This initialization assumes 36MHz Fpb clock. If it changes,
	// you will have to modify baud rate initializer.
    UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY);
    UARTSetFifoMode(UART2, UART_INTERRUPT_ON_TX_NOT_FULL | UART_INTERRUPT_ON_RX_NOT_EMPTY);
    UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1);
    UARTSetDataRate(UART2, GetPeripheralClock(), BAUD);
    UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX));
	// Configure UART2 RX Interrupt
	INTEnable(INT_SOURCE_UART_RX(UART2), INT_ENABLED);
    INTSetVectorPriority(INT_VECTOR_UART(UART2), INT_PRIORITY_LEVEL_2);
    INTSetVectorSubPriority(INT_VECTOR_UART(UART2), INT_SUB_PRIORITY_LEVEL_0);


/* PORTD for LEDs - DEBUGGING */
	mPORTDClearBits(BIT_0 | BIT_1 | BIT_2);
	mPORTDSetPinsDigitalOut(BIT_0 | BIT_1 | BIT_2);

	

// Congifure Change/Notice Interrupt Flag
	ConfigIntCN(INTERRUPT);
// configure for multi-vectored mode
    INTConfigureSystem(INT_SYSTEM_CONFIG_MULT_VECTOR);
// enable interrupts
    INTEnableInterrupts();


	counterDistanceMeasure=600; //measure ULTRASONICS distance each 60 ms

	while (1) {
	
/***************** Robot MAIN state machine *****************/
		unsigned char ret = 0;
		switch (Robo_State) {
			case 0:
				MotorsON = 0;
				Robo_State = 0;

				InvInitialOrientation(RESET);
				TestDog(RESET);
				GoToRoom4short(RESET);
				BackToStart(RESET);
				InitialOrientation(RESET);
				GoToCenter(RESET);
				GoToRoom4long(RESET);
				break;
			case 1:
				ret = InvInitialOrientation(GO);
				if (ret == 1) {
					Robo_State = 2;
				}
				break;
			case 2:
				ret = TestDog(GO);
				if (ret == 1) {
					Robo_State = 3;		//DOG not found
				} else if (ret == 2) {
					Robo_State = 4;		//DOG found
				}
				break;
			case 3:
				ret = GoToRoom4short(GO);
				if (ret == 1) {
					Robo_State = 0;
				}
				break;
			case 4:
				ret = BackToStart(GO);
				if (ret == 1) {
					Robo_State = 5;
				}
				break;
			case 5:
				ret = GoToCenter(GO);
				if (ret == 1) {
					Robo_State = 6;
				}
				break;
			case 6:
				ret = GoToRoom4long(GO);
				if (ret == 1) {
					Robo_State = 0;
				}
				break;
		}

		if (frontDistance < 30 || backDistance < 30 || leftDistance < 30 || rightDistance < 30)
			mPORTDSetBits(BIT_0);
		else 
			mPORTDClearBits(BIT_0);
/***************************************************************/


/***************** Motors State Machine ************************/

		if (MotorsON) {
			/****************************
			MOTOR MAP
				M1 O-------------O M2   ON EVEN MOTORS, STEPS MUST BE INVERTED
					|	 /\		|			i.e. FORWARD IS BACKWARD
					|	/  \	|
					|	 || 	|
					|	 ||		|
				M3 O-------------O M4
			*****************************/
			if (M1_counter == 0) {
				switch (M1_state) {
					case 0: // set 0011
						step (0x3 , 1);
						if (M1forward)
							M1_state = 1;
						else
							M1_state = 3;
						break;
					case 1: // set 1001
						step (0x9 , 1);
						if (M1forward)
							M1_state = 2;
						else
							M1_state = 0;
						break;
					case 2: // set 1100
						step (0xC , 1);
						if (M1forward)
							M1_state = 3;
						else
							M1_state = 1;
						break;
					case 3: // set 0110
					default:
						step (0x6 , 1);
						if (M1forward)
							M1_state = 0;
						else
							M1_state = 2;
						break;	
				}
				M1_counter = M1_stepPeriod;
				step_counter[0]--;
				if (directionNow == countingDirection)
					step_counter[1]--;
			}
			
			if (M2_counter == 0) {
				switch (M2_state) {
					case 0: // set 0011
						step (0x3 , 2);
						if (M2forward)
							M2_state = 1;
						else
							M2_state = 3;
						break;
					case 1: // set 0110
						step (0x6 , 2);
						if (M2forward)
							M2_state = 2;
						else
							M2_state = 0;
						break;
					case 2: // set 1100
						step (0xC , 2);
						if (M2forward)
							M2_state = 3;
						else
							M2_state = 1;
						break;
					case 3: // set 1001
					default:
						step (0x9 , 2);
						if (M2forward)
							M2_state = 0;
						else
							M2_state = 2;
						break;	
				}
				M2_counter = M2_stepPeriod;
			}

			if (M3_counter == 0) {
				switch (M3_state) {
					case 0: // set 0011
						step (0x3 , 3);
						if (M3forward)
							M3_state = 1;
						else
							M3_state = 3;
						break;
					case 1: // set 1001
						step (0x9 , 3);
						if (M3forward)
							M3_state = 2;
						else
							M3_state = 0;
						break;
					case 2: // set 1100
						step (0xC , 3);
						if (M3forward)
							M3_state = 3;
						else
							M3_state = 1;
						break;
					case 3: // set 0110
					default:
						step (0x6 , 3);
						if (M3forward)
							M3_state = 0;
						else
							M3_state = 2;
						break;	
				}
				M3_counter = M3_stepPeriod;
			}
			
			if (M4_counter == 0) {
				switch (M4_state) {
					case 0: // set 0011
						step (0x3 , 4);
						if (M4forward)
							M4_state = 1;
						else
							M4_state = 3;
						break;
					case 1: // set 0110
						step (0x6 , 4);
						if (M4forward)
							M4_state = 2;
						else
							M4_state = 0;
						break;
					case 2: // set 1100
						step (0xC , 4);
						if (M4forward)
							M4_state = 3;
						else
							M4_state = 1;
						break;
					case 3: // set 1001
					default:
						step (0x9 , 4);
						if (M4forward)
							M4_state = 0;
						else
							M4_state = 2;
						break;	
				}
				M4_counter = M4_stepPeriod;
			}
		} else {
			//motors off
			mPORTDSetBits(BIT_4 | BIT_5 | BIT_6 | BIT_7);
			mPORTCSetBits(BIT_1 | BIT_2 | BIT_3 | BIT_4);
			mPORTESetBits(BIT_0 | BIT_1 | BIT_2 | BIT_3 |
					BIT_4 | BIT_5 | BIT_6 | BIT_7);
		}
/************************************************************/
		

/******* TEST CODE, toggles the servos (from 90 deg. to -90 deg.) every 1 s. ********/
/*		if (auxcounter == 0) {
			
			servo1_angle = 0;

			if (servo2_angle == 90)
				servo2_angle = -90;
			else
				servo2_angle = 90;

			auxcounter = 20000;		// toggle angle every 2 s.
		}
*/

		servo1_angle = 0;
		servo2_angle = -90;
	/*
		if (frontDistance > 13 && frontDistance < 17) {
			servo2_angle = 90;
		}
		else
			servo2_angle = -90;
	*/
/*******************************************************************/


/****************** SERVO CONTROL ******************/
		/*
			Changing the global servoX_angle at any point in the code will 
			move the servo to the desired angle.
		*/
		servo1_counter = (servo1_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
		if (servo1_period == 0) {
			mPORTASetBits(BIT_2);
			servo1_period = SERVOMAXPERIOD; 		/* 200 * 100us = 20000us period  */
		}

		servo2_counter = (servo2_angle + 90)*(18)/180 + 6; // between 600 and 2400 us
		if (servo2_period == 0) {
			mPORTASetBits(BIT_3);
			servo2_period = SERVOMAXPERIOD; 		/* 200 * 100us = 20000us period  */
		}
/*****************************************************/
	
	} /* end of while(1)  */
		
	return 0;
}