//Main
void main(void) {
initBoard();
backlightOn();
//Configure interrupts
//Interrupt on RB1 = SW_E
OpenRB1INT(PORTB_CHANGE_INT_ON & FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_HIGH);
//Interrupt on RB0 = SW_W
OpenRB0INT(PORTB_CHANGE_INT_ON & FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_LOW);
//Enable button input => not needed, see dwengoBoard.c->initBoard();
TRISB = 0xFF;
//Init motors
initializeMotors();
initializeSensors();
while (TRUE)
{
if(SW_N == 0)
{
mode = 0;
clearLCD();
printStringToLCD("Doing moves brah", 1, 0);
leftMotor(700);
rightMotor(700);
delay_s(4);
leftMotor(1000);
rightMotor(700);
delay_s(4);
leftMotor(700);
rightMotor(1000);
delay_s(4);
leftMotor(-700);
rightMotor(700);
delay_s(4);
}
else if(mode == 1)
{
//Light eating
}
else if(SW_S == 0)
{
//Start light eating
//mode = 1;
clearLCD();
printStringToLCD("Going to send string", 0, 0);
initializeRS232();
sendData();
}
else
{
//printStringToLCD("Cool story bro", 0, 0);
}
}
}
void External_Init(void)
{
INTCON = 0x80;
OpenRB0INT( FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_HIGH );
OpenRB1INT( FALLING_EDGE_INT & PORTB_PULLUPS_OFF & PORTB_INT_PRIO_HIGH );
INTCONbits.INT0IE = 1;
INTCON3bits.INT1IE = 1;
INTCONbits.INT0IF =0;
INTCON3bits.INT1IF =0;
}
void low_isr(void)
{
// Réception CAN.
if(PIE3bits.RXB0IE && PIR3bits.RXB0IF)
{
unsigned long id;
char num;
short cmd;
BYTE data[8];
BYTE len;
enum CAN_RX_MSG_FLAGS flags;
while(CANIsRxReady()) {
CANReceiveMessage(&id, data, &len, &flags);
}
PIR3bits.RXB0IF = 0;
led = led ^ 1;
num = id & 0x07;
cmd = id & 0xFFF8;
if(cmd == 320) { // rangerReq
id = 352 | (rangers[num].value < rangers[num].threshold) << 4 | num;
while(!CANSendMessage(id, (BYTE*)rangers[num].value, 2,
CAN_TX_PRIORITY_0 & CAN_TX_STD_FRAME & CAN_TX_NO_RTR_FRAME )) {
}
}
else if(cmd == 328) { // rangerThres
rangers[num].threshold = ((unsigned int*) data)[0];
}
else if(cmd == 336) { // rangerMute
rangers[num].unmuted = 0;
}
else if(cmd == 344) { // rangerUnmute
rangers[num].unmuted = 1;
}
else {
led = led ^ 1; // On annule la commutation précédente de la LED.
}
}
// Génération des pulses sonars et polling des bumpers.
if(INTCONbits.TMR0IE && INTCONbits.TMR0IF) // Vingt fois par secondes, non stop.
{
INTCONbits.TMR0IF = 0;
check_button(0, PORTCbits.RC2);
check_button(1, PORTCbits.RC3);
check_button(2, PORTCbits.RC4);
check_button(3, PORTCbits.RC5);
// On alterne les triggers pulse, et pas besoin
// d'attendre plus car ils restent allumés la moitié du temps (50ms).
if(PORTCbits.RC7) {
CloseRB1INT();
OpenRB0INT(PORTB_CHANGE_INT_ON & RISING_EDGE_INT & PORTB_PULLUPS_OFF);
PORTCbits.RC6 = 1;
PORTCbits.RC7 = 0; // Fin du pulse => déclenchement.
}
else {
CloseRB0INT();
OpenRB1INT(PORTB_CHANGE_INT_ON & RISING_EDGE_INT & PORTB_PULLUPS_OFF);
PORTCbits.RC6 = 0;
PORTCbits.RC7 = 1; // Fin du pulse => déclenchement.
}
// Début de l'attente des echos.
// Lecture de l'ADC pour les sharps et passage à la mesure suivante.
//count_sharp_value = (count_sharp_value + 1) %3;
//count_sharp_value_tab = count_sharp_value + 3*(cur_sharp - 2); // On se place au bon endroit dans le tableau sharp_value[].
count_sharp_value_tab = count_sharp_value + 3*(cur_sharp - 2);
count_sharp_value_change = (count_sharp_value_change + 1) %3;
if (count_sharp_value_change == 2)
count_sharp_value = (count_sharp_value + 1)%3;
count_sharp_value_change = (count_sharp_value_change + 1) %3;
sharp_value[count_sharp_value_tab] = LectureAnalogique();
rangers[cur_sharp].value = (sharp_value[3*(cur_sharp - 2)] + sharp_value[1 + 3*(cur_sharp - 2)] + sharp_value[2 + 3*(cur_sharp - 2)])/3;
//rangers[cur_sharp].value = LectureAnalogique();
if(rangers[cur_sharp].unmuted) {
while(!CANSendMessage(352 | cur_sharp, (BYTE*)&(rangers[cur_sharp].value), 2,
CAN_TX_PRIORITY_0 & CAN_TX_STD_FRAME & CAN_TX_NO_RTR_FRAME )) {
}
led = led ^ 1;
}
if(++cur_sharp > 4)
cur_sharp = 2;
// Lancement de la conversion suivante.
ADCON0 = 0b00000001 + ((cur_sharp - 2) << 2); // Selectionne le bon AN en lecture analogique
//ADCON2 peut être configuré si on le souhaite
ADCON0bits.GO_DONE=1;
//ADCON0bits.CHS = cur_sharp; // Plus simple que SetChanADC(). //TODO
//ConvertADC(); //TODO
}
}
