void readCNAndClrIsr()
{
int portStatus = 0;
portStatus = mPORTDRead(); //clear mismatch
portStatus = mPORTBRead(); //clear mismatch
mCNClearIntFlag();
}
// Configure the CN interrupt handler
void __ISR(_CHANGE_NOTICE_VECTOR, ipl2) ChangeNotice_Handler(void)
{
unsigned int temp;
// clear the mismatch condition
temp = mPORTBRead();
// clear the interrupt flag
mCNClearIntFlag();
// .. things to do ..
if ( !(temp & (1<<2)) ) { //button on RB2 is pressed
if (MotorsON == 0)
MotorsON = 1;
else
MotorsON = 0;
}
if ( temp & (1<<3) ) {
M1forward = 1;
} else if ( !(temp & (1<<3)) ) {
M1forward = 0;
}
if ( temp & (1<<4) ) {
M2forward = 1;
} else if ( !(temp & (1<<4)) ) {
M2forward = 0;
}
}
void __ISR(_CHANGE_NOTICE_VECTOR, ipl6)IntCN(void)
{
mPORTDRead();
//mPORTDRead(); //Vaciar
if (BUTTON_1) {
PUSH_BUTTON_pressed = TRUE;
}
mCNClearIntFlag();
}
void setup_spi() {
// TODO move it out of here
INTDisableInterrupts();
mCNOpen(CN_ON | CN_IDLE_CON, CN1_ENABLE, CN1_PULLUP_ENABLE);
mPORTCRead();
mCNSetIntPriority(6); // same as below
mCNClearIntFlag();
mCNIntEnable(1);
INTEnableInterrupts();
}
void __ISR(_CHANGE_NOTICE_VECTOR, ipl6) ChangeNotice_Handler(void)
{
// Step #1 - always clear the mismatch condition first
int dummy = PORTReadBits(IOPORT_D, BIT_5);;
// Step #2 - then clear the interrupt flag
mCNClearIntFlag();
PORTF ^= BIT_0;
}
/**********************************************************************
* Function: Interrupt Service Routine for Override board
* @return None
* @remark ISR that is called when CH3 pings external interrupt
* @author Darrel Deo
* @date 2013.04.01
**********************************************************************/
void __ISR(_CHANGE_NOTICE_VECTOR, ipl2) ChangeNotice_Handler(void){
mPORTDRead(); //?
Timer_new(TIMER_OVERRIDE, OVERRIDE_TIMEOUT_DELAY);
//Clear the interrupt flag that was risen for the external interrupt
//might want to set a timer in here
mCNClearIntFlag();
//INTEnable(INT_CN,0);
}
void __ISR(_CHANGE_NOTICE_VECTOR, ipl1) ChangeNotice_Handler(void)
{
BYTE temp;
temp = mPORTDRead();
sendCard = 1;
mCNClearIntFlag(); // clear the interrupt flag
}
void setupCNModuleAndPIRInput()
{
//PIR Input and notification A1
mPORTBSetPinsDigitalIn(BIT_2); //A1 PIR Input (CN4 module)
mCNOpen(CN_OFF | CN_IDLE_CON | CN_IDLE_CON, CN4_ENABLE, CN4_PULLUP_ENABLE);
// read port(s) to clear mismatch
mPORTBReadBits(BIT_2);
// configure interrupts and clear change notice interrupt flag
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_3);
mCNClearIntFlag(); // Clear interrupt flag
}
/**
* Function: Interrupt Service Routine
* @return None
* @remark ISR that is called when CH3 pings external interrupt
* @author Darrel Deo
* @date 2013.04.01 */
void __ISR(_CHANGE_NOTICE_VECTOR, ipl2) ChangeNotice_Handler(void){
mPORTDRead();
Serial_putChar('Y');
//Change top-level state machine so it is in state Reciever
CONTROL_MASTER = RECIEVER_CONTROL;
OVERRIDE_TRIGGERED = TRUE;
//Clear the interrupt flag that was risen for the external interrupt
//might want to set a timer in here
mCNClearIntFlag();
INTEnable(INT_CN,0);
}
void BSP_CNHandler (void)
{
CPU_INT32U reg_val;
reg_val = PORTD; /* Read register to clear change notice mismatch condition */
// if ((reg_val & PB0_MASK) == 0) {
/* Insert your application code here */ /* Insert your application code here */
// }
mCNClearIntFlag();
}
/***************************************************************************************************
InitKeyboard
Initialise the keyboard and sound routines.
****************************************************************************************************/
void initKeyboard(void) {
// enable pullups on the clock and data lines.
// This stops them from floating and generating random chars when no keyboard is attached
CNCONbits.ON = 1; // turn on Change Notification module
P_PS2CLK_PULLUP = P_ON; // turn on the pullup for pin D6 also called CN15
P_PS2DAT_PULLUP = P_ON; // turn on the pullup for pin D7 also called CN16
// setup Change Notification interrupt
P_PS2CLK_INT = P_ON; // enable PS2CLK (CN15) as a change interrupt
mCNSetIntPriority(3); // set interrupt priority to 3
mCNClearIntFlag(); // clear the interrupt flag
mCNIntEnable(1); // enable interrupt
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// STEP 9. configure the CN interrupt handler
void __ISR(_CHANGE_NOTICE_VECTOR, ipl2) ChangeNotice_Handler(void)
{
unsigned int temp;
// clear the mismatch condition
temp = PORTReadBits(IOPORT_D, BIT_6);
// .. things to do .. toggle the led
mPORTDToggleBits(BIT_1);
mPORTEToggleBits(BIT_2);
// clear the interrupt flag
mCNClearIntFlag();
}
void __ISR(_CHANGE_NOTICE_VECTOR, ipl2) ChangeNotice_Handler(void)
{
unsigned int temp;
// clear the mismatch condition
temp = mPORTDRead();
// clear the interrupt flag
mCNClearIntFlag();
// .. things to do ..
if ( !(temp & (1<<13)) ) { //button on RD13 is pressed
if (Robo_State == 0)
Robo_State = 1;
else {
Robo_State = 0;
}
}
}
static void PB_IntInit (void)
{
CPU_INT32U dummy_read;
CPU_INT16U config;
config = CHANGE_INT_ON
| CHANGE_INT_PRI_3;
CNCON = 0x8000; /* Enable the change notice module */
EnableCN19(); /* Enable change notice pin 19, tied to our push button */
ConfigCNPullups(CN19_PULLUP_ENABLE); /* Enable a weak pull-up corresponding to the CN pin */
dummy_read = PORTD; /* Perform a dummy read to clear any mismatch conditions */
mCNClearIntFlag(); /* Clear the int flag just in case it was triggered */
ConfigIntCN(config); /* Enable CN interrupts at priority level 3 */
}
void setupCNModuleAnd_IR_PIR_Input()
{
//T2 used to sample IR Input signals
setupTimer2();
//IR INPUT
mPORTDSetPinsDigitalIn(BIT_7); //D5 IR Input (CN16 module, RD7)
//PIR input
mPORTBSetPinsDigitalIn(BIT_2); //A1 PIR Input (CN4 module, RB2)
// setup the change notice options
//(ensure that CN continues working in sleep mode)
mCNOpen(CN_OFF | CN_IDLE_CON, CN16_ENABLE | CN4_ENABLE, CN16_PULLUP_ENABLE | CN4_PULLUP_ENABLE);
// read port(s) to clear mismatch
mPORTDReadBits(BIT_7);
mPORTBReadBits(BIT_2);
mPORTBReadBits(BIT_4);
// configure interrupts and clear change notice interrupt flag
ConfigIntCN(CHANGE_INT_ON | CHANGE_INT_PRI_3);
mCNClearIntFlag(); // Clear interrupt flag
}
void __ISR(_CHANGE_NOTICE_VECTOR, ipl2) ChangeNotice_Handler(void)
{
// Step #1 - always clear the mismatch condition first, by reading the port (or just the bit)
dummy = PORTD;
// Step #2 - then clear the interrupt flag
mCNClearIntFlag();
// Step #3 - process the switches
/*
if(dummy == BIT_7)
{
PORTClearBits(IOPORT_D, BIT_1); // turn off LED2
DBPRINTF("Switch SW2 has been released. \n");
}
else
{
PORTSetBits(IOPORT_D, BIT_1); // turn on LED2
DBPRINTF("Switch SW2 has been pressed. \n");
}
*/
if((dummy & BIT_6) == 0) // SW1 pressed?
{
contrastSetup();
}
if((dummy & BIT_7) == 0) // SW2 pressed?
{
//waitForUser();
haltDisplay ^= 1;
delay_ms(20);
}
// additional processing here...
}
void __ISR(_CHANGE_NOTICE_VECTOR, ipl2) ChangeNotice_Handler(void)
{
if(InTheMiddleOfSomething)
return;
BYTE bVal;
bVal = PORTReadBits(IOPORT_B, BIT_0 | BIT_3);
Led2;
/******************A front wall is detected******************/
//
if(!FrontSensor && LeftSensor)
{
InTheMiddleOfSomething = fTrue;
Led1;
Led2Clr;
//Reverse the motor
SetRightSpeed(dtcMtrStopped);
RightReverse; //SetRightDir(prtMtrRightDirClr); //Reverse
SetRightSpeed(dtcMtrMedium);
//mCNClearIntFlag();
//Wait until the turn is executed
Wait_ms(TURN90);
//Continue going straight
SetRightSpeed(dtcMtrStopped);
RightForward; //SetRightDir(prtMtrRightDirSet); //Forward
SetRightSpeed(dtcMtrMedium);
Led1Clr;
InTheMiddleOfSomething = fFalse;
mCNClearIntFlag();
return;
}
if(LeftSensor)
{
InTheMiddleOfSomething = fTrue;
Led4;
Led2Clr;
//Run for a few moments to get around the corner
Wait_ms(TURN90/2);
//Stop it until the turn is completed
SetLeftSpeed(dtcMtrStopped);
Wait_ms(TURN90);
//Continue going straight and wait to mare sure it can detect the new wall
SetLeftSpeed(dtcMtrMedium);
Wait_ms(TURN90/4);
Led4Clr;
InTheMiddleOfSomething = fFalse;
}
/*
if(LeftSensor && FrontSensor)
{
SetLeftSpeed(dtcMtrStopped);
SetRightSpeed(dtcMtrStopped);
}
else
{
if(LeftSensor) //Far left sensor -> hard left
{
SetLeftSpeed(dtcMtrMedium);
}
if(FrontSensor) //Far right sensor -> hard right
{
SetRightSpeed(dtcMtrMedium);
}
}
*/
mCNClearIntFlag();
}
