/* ---------- 育成ギアからの信号 ---------- */
DM_SIG_INT()
{
if (ctx.state == IDLE) {
IR_RCV_INT_DISABLE();
BIT_SET(GR_LED_PIN);
ctx.state = XMIT;
}
if (BIT_READ(DM_SIG_PIN) != 0) {
IR_LED_OFF();
} else {
IR_LED_ON();
}
ctx.count++;
if (ctx.count >= 36) {
ctx.count = 0;
IR_LED_OFF();
BIT_CLR(GR_LED_PIN);
ctx.state = IDLE;
_delay_us(500);
IR_RCV_INT_FLG_CLR();
IR_RCV_INT_ENABLE();
}
}
void commandTree(void){
//==============================================================================
// COMMANDTREE
//
// Description: This function is used as a command tree for input commands
//
// Passed : no variables passed
// Locals: none
// Returned: no values returned
// Globals: left_forward_rate
// right_forward_rate
// left_reverse_rate
// right_reverse_rate
// start_on_whiteFG
// ADC_Left_Detector
// ADC_Right_Detector
// thresholdL
// thresholdR
// motor_time
// commandBuffer
// i, k, j
// commandIndex
// StartCommandFG
// numberBuff
// display_1
// time
// startBlackLine
// startTrackFG
// start_on_whiteFG
//
// Author: David Pryor
// Date: April 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
commandIndex=RESET;
for(i=RESET;i<MAX_COMMANDBUF_SIZE;i++){ //clear command buffer
commandBuffer[i]='\0';
}
i=RESET;
writeCommandFG=TRUE; //write to command buffer (in interrupt)
Five_msec_Delay(FOR_FIFTY_MSEC); //short delay to allow for commandBuffer to fill
while(commandBuffer[i] != '\r' && commandBuffer[i] != '\n'){ //search through command buffer, and end if carriage return or new line is hit
for(k=RESET;k<MAX_NUMBERBUF_SIZE;k++){
numberBuff[k] = '\0'; //clearing number buffer
}
if(!(commandBuffer[i+FIRST_ELEMENT]=='4' && commandBuffer[i+SECOND_ELEMENT]=='3' && commandBuffer[i+THIRD_ELEMENT]=='2' && commandBuffer[i+FOURTH_ELEMENT]=='1')){ //if command contains securuty pin, then enter command tree
StartCommandFG=FALSE;
break;
}
if(commandBuffer[i+FIFTH_ELEMENT]=='A'){ //checking for .A
if(commandBuffer[i+SIXTH_ELEMENT]=='\r' || commandBuffer[i+SIXTH_ELEMENT]=='.' || commandBuffer[i+SIXTH_ELEMENT]=='\n'){ //check for end of a command line
uart_puts("I'm Here\r");
StartCommandFG=FALSE;
}
}
else if(commandBuffer[i+FIFTH_ELEMENT]=='B'){ //Check for baud rate command or reverse command
k=RESET;
j=i+SIXTH_ELEMENT;
for(;commandBuffer[j]!='\r' && commandBuffer[j]!='\n' && commandBuffer[j]!='.';j++){
if(commandBuffer[j] == '0' || commandBuffer[j] == '1'|| commandBuffer[j] == '2'|| commandBuffer[j] == '3'|| commandBuffer[j] == '4'|| commandBuffer[j] == '5'|| commandBuffer[j] == '6'|| commandBuffer[j] == '7'|| commandBuffer[j] == '8'|| commandBuffer[j] == '9'){
numberBuff[k] = commandBuffer[j]; // grabbing numbers from command
k++;
}
}
if(commandBuffer[i+SIXTH_ELEMENT]=='F'){ //checking for .BF
if(commandBuffer[i+SEVENTH_ELEMENT]=='\r' || commandBuffer[i+SEVENTH_ELEMENT]=='.' || commandBuffer[i+SEVENTH_ELEMENT]=='\n'){ //check for end of a command line
Init_Serial_UCA1(RESET); //set IOT baud to 115200
display_1 = " 115200 ";
uart_puts("115,200\n");
StartCommandFG=FALSE;
}
}
else if(commandBuffer[i+SIXTH_ELEMENT]=='S'){ //checking for .BS
if(commandBuffer[i+SEVENTH_ELEMENT]=='\r' || commandBuffer[i+SEVENTH_ELEMENT]=='.' || commandBuffer[i+SEVENTH_ELEMENT]=='\n'){ //check for end of a command line
display_1 = " 9600 ";
Init_Serial_UCA1(IOT_9600); //set IOT baud to 9600
uart_puts("9600\n");
StartCommandFG=FALSE;
}
}
else if(numberBuff[FIRST_ELEMENT] != '\0'){ //checking for .B(number)
display_1 = " Reverse ";
time = atoi(numberBuff);
time /= FIVE_MSEC;
left_reverse_rate = FORTYFOUR_PERCENT;
right_reverse_rate = FORTYFOUR_PERCENT;
left_wheel_reverse_on();
right_wheel_reverse_on();
Five_msec_Delay(time);
left_wheel_reverse_off();
right_wheel_reverse_off();
Five_msec_Delay(TRUE);
}
}
else if(commandBuffer[i+FIFTH_ELEMENT]=='F'){ //Wheel forward command check
k=RESET;
j=i+SIXTH_ELEMENT;
for(;commandBuffer[j]!='\r' && commandBuffer[j]!='\n' && commandBuffer[j]!='.';j++){
if(commandBuffer[j] == '0' || commandBuffer[j] == '1'|| commandBuffer[j] == '2'|| commandBuffer[j] == '3'|| commandBuffer[j] == '4'|| commandBuffer[j] == '5'|| commandBuffer[j] == '6'|| commandBuffer[j] == '7'|| commandBuffer[j] == '8'|| commandBuffer[j] == '9'){
numberBuff[k] = commandBuffer[j]; // grabbing numbers from command
k++;
}
}
if(numberBuff[RESET] != '\0'){ //checking for .F(number)
display_1 = " Forward ";
time = atoi(numberBuff);
startTrackFG = TRUE;
time /= FIVE_MSEC;
left_forward_rate = FORTYFOUR_PERCENT;
right_forward_rate = FORTYFOUR_PERCENT;
left_wheel_forward_on();
right_wheel_forward_on();
Five_msec_Delay(time);
left_wheel_forward_off();
right_wheel_forward_off();
Five_msec_Delay(TRUE);
}
}
else if(commandBuffer[i+FIFTH_ELEMENT]=='R'){ // HARDWARE RESET or turn right command
k=RESET;
j=i+SIXTH_ELEMENT;
for(;commandBuffer[j]!='\r' && commandBuffer[j]!='\n' && commandBuffer[j]!='.';j++){
if(commandBuffer[j] == '0' || commandBuffer[j] == '1'|| commandBuffer[j] == '2'|| commandBuffer[j] == '3'|| commandBuffer[j] == '4'|| commandBuffer[j] == '5'|| commandBuffer[j] == '6'|| commandBuffer[j] == '7'|| commandBuffer[j] == '8'|| commandBuffer[j] == '9'){
numberBuff[k] = commandBuffer[j]; // grabbing numbers from command
k++;
}
}
if(commandBuffer[i+SIXTH_ELEMENT]=='\r' || commandBuffer[i+SIXTH_ELEMENT]=='.' || commandBuffer[i+SIXTH_ELEMENT]=='\n'){ //check for end of a command line
display_1 = " Reset ";
IOTHardwareReset(); //resetting iot using pin
uart_puts("Hardware Reset");
StartCommandFG=FALSE;
}
else if(numberBuff[RESET] != '\0'){
display_1 = " Right ";
time = atoi(numberBuff); //string to number
time *= DEGREE_RATIO; //multiplying to enable degrees to be entered
left_forward_rate = THIRTYEIGHT_PERCENT;
left_wheel_forward_on();
Five_msec_Delay(time);
left_wheel_forward_off();
Five_msec_Delay(TRUE);
}
}
else if(commandBuffer[i+FIFTH_ELEMENT]=='L'){ // (HARDWARE RESET) or turn left command
k=RESET;
j=i+SIXTH_ELEMENT;
for(;commandBuffer[j]!='\r' && commandBuffer[j]!='\n' && commandBuffer[j]!='.';j++){
if(commandBuffer[j] == '0' || commandBuffer[j] == '1'|| commandBuffer[j] == '2'|| commandBuffer[j] == '3'|| commandBuffer[j] == '4'|| commandBuffer[j] == '5'|| commandBuffer[j] == '6'|| commandBuffer[j] == '7'|| commandBuffer[j] == '8'|| commandBuffer[j] == '9'){
numberBuff[k] = commandBuffer[j]; // grabbing numbers from command
k++;
}
}
if(numberBuff[FIRST_ELEMENT] != '\0'){
display_1 = " Left ";
time = atoi(numberBuff); //string to number
time *= DEGREE_RATIO;
right_forward_rate = THIRTYEIGHT_PERCENT;
right_wheel_forward_on();
Five_msec_Delay(time);
right_wheel_forward_off();
Five_msec_Delay(TRUE);
}
}
else if(commandBuffer[i+FIFTH_ELEMENT]=='C'){ //Configure IOT
if(commandBuffer[i+SIXTH_ELEMENT]=='\r' || commandBuffer[i+SIXTH_ELEMENT]=='.' || commandBuffer[i+SIXTH_ELEMENT]=='\n'){ //check for end of a command line
Init_Serial_UCA1(IOT_115200); //Set A1 to 115200. TEMPORARILY SET TO 9600 SO IOT RESPONSE CAN BE SEEN ON TERMINAL
uart_puts("AT+S.SCFG=console1_speed,9600\r"); //set IOT baud rate to 9600
Five_msec_Delay(FOR_TWO_SECOND); //delay 2 seconds to allow change to take effect
uart_puts("AT&W\r"); //save settings to FRAM
Five_msec_Delay(FOR_ONE_SECOND); //delay 1 second to allow change to take effect
Init_Serial_UCA1(IOT_9600); //Set A1 to 9600 baud
uart_puts("AT+CFUN=1\r"); //Send software reset command
IOTHardwareReset(); //resetting iot using pin
StartCommandFG=FALSE;
}
}
else if(commandBuffer[i+FIFTH_ELEMENT]=='G'){ //blackline dection GO
if(commandBuffer[i+SIXTH_ELEMENT]=='\r' || commandBuffer[i+SIXTH_ELEMENT]=='.' || commandBuffer[i+SIXTH_ELEMENT]=='\n'){ //check for end of a command line
display_1 = " Blk Line ";
IR_LED_ON(); //IR on
Five_msec_Delay(FOR_TENTH_SECOND); //let IR "warm up"
startBlackLine = TRUE; // set flag for detection true
if((ADC_Left_Detector) < thresholdL && ADC_Right_Detector < thresholdR){ //does my car start on white or black
start_on_whiteFG = TRUE;
}
StartCommandFG=FALSE;
}
}
for(;commandBuffer[i]!='\r' && commandBuffer[i]!='\n' && commandBuffer[i]!='.';i++){
//this for loop is for incrementing i to the next period
}
if(commandBuffer[i]=='.'){ //if not breaking out of while loop, increment i to skip the period part of the next command
i++;
}
}
StartCommandFG=FALSE;
writeCommandFG=FALSE; //command has been executed.
}
void IR_Calibration(void){
//==============================================================================
// COMMANDTREE
//
// Description: This function is used as a command tree for input commands
//
// Passed : no variables passed
// Locals: proceed
// Returned: no values returned
// Globals: ADC_Left_Detector
// ADC_Right_Detector
// thresholdL
// thresholdR
// left_calibration_black
// right_calibration_black
// left_calibration_white
// right_calibration_white
// display_1
// display_2
// display_3
// display_4
// switch_two_pressed
//
// Author: David Pryor
// Date: April 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
int proceed = RESET;
ADC_Process(); // call sampling function
IR_LED_ON();
Five_msec_Delay(FOR_ONE_SECOND);
display_1 = "White Test";
display_2 = "Press SW2";
display_3 = "";
display_4 = "";
Display_Process();
while(proceed == FALSE){
if(switch_two_pressed){
proceed = TRUE;
switch_two_pressed = FALSE;
}
}
ADC_Process(); // call sampling function
right_calibration_white = ADC_Right_Detector;
left_calibration_white = ADC_Left_Detector;
proceed = RESET;
display_1 = "Black Test";
display_2 = "Press SW2";
display_3 = "";
display_4 = "";
Display_Process();
while(proceed == FALSE){
if(switch_two_pressed){
proceed = TRUE;
switch_two_pressed = FALSE;
}
}
ADC_Process(); // call sampling function
right_calibration_black = ADC_Right_Detector;
left_calibration_black = ADC_Left_Detector;
IR_LED_OFF();
thresholdR = ((right_calibration_black + right_calibration_white)/HALF)+THRESHOLD_SENSITIVITY;
thresholdL = ((left_calibration_black + left_calibration_white)/HALF)+THRESHOLD_SENSITIVITY;
}
