int main(void)
{
unsigned constrained = 0, shutOffBuzzer = 0;
//Set GPIO Pins
if(!shutOffBuzzer)
DDRB|=0b00100000; //PIN 13 output to buzzer
DDRB|=0b00001000;
sei();
setupADC();
setupPWM();
startPWM();
count=0;
InitTimer0();
StartTimer0();
while(1)
{
if(state)
pwm_val = remap(adc_val,100,900);
else
{
//0-255 steps for tone strength
constrained = remap(adc_val,619,890);
//Output tone
tone(constrained);
}
}
}
void setServoAngle( uint8_t channel, uint8_t angle ){
uint8_t pulseLength = 40 + angle*200/180;
pulseLength = pulseLength*PWM_TIME_PERIOD_BASE/PWM_TIME_PERIOD;
updatePWM(channel, pulseLength);
startPWM();
timer_delay_ms(2000);
stopPWM();
timer_delay_ms(2000);
}
void initPWM(void)
{
// PORTB as output
DDRB = 0xFF;
TCCR1B = 1;
startPWM();
}
/**
* Initializes a motor object
*
* mode=freewheel,forward,backward,brake
*/
void init_motor(motor_t* motor, uintptr_t port, char input_1_pin, char input_2_pin, char pwmPin){
motor->cnt_port=port;
motor->input_1_pin=input_1_pin;
motor->input_2_pin=input_2_pin;
motor_setMode(motor,freewheel);
startPWM(&motor->pwm,port,0x1<<pwmPin,0,255);//pwm out on pin A0
}
void __attribute__((__interrupt__, __auto_psv__)) _T1Interrupt(void) {
IFS0bits.T1IF = 0;
if (listening) {
if (timer1_counter == 50) {
timer1_counter = 0;
listening = false;
send_ping = true;
RTT1_received = false;
RTT2_received = false;
RTT1_overflows = 0;
RTT2_overflows = 0;
RTT1_time = 0;
RTT2_time = 0;
stopTimerRTT();
timer2_counter = 0;
// IEC0bits.ADIE = 0;
IFS0bits.ADIF = 0;
ADSTATbits.P0RDY= 0;
} else {
++timer1_counter;
}
} else if (ping_send) {
stopPWM();
startTimerRTT();
ping_send = false;
blocking_sensors = true;
} else if (send_ping) {
initPWM();
startPWM(); // Sent for 1ms
send_ping = false;
ping_send = true;
} else if (blocking_sensors && timer1_counter == 15) { // Blocked during 15ms
timer1_counter = 0;
blocking_sensors = false;
listening = true;
/* Launch ADC */
// IEC0bits.ADIE = 1;
ADCPC0bits.SWTRG0 = 1;
} else {
++timer1_counter;
}
}
int main (void)
{
uint32_t analogValue;
uint8_t wantedDutyCycle, wantedDutyCycleB=100;
uint8_t state = 0;
//Set LED1-LED8 pins as outputs
GPIOSetDir( LED1_PORT, LED1_PIN, GPIO_OUTPUT);
GPIOSetValue( LED1_PORT, LED1_PIN, LED_OFF);
GPIOSetDir( LED2_PORT, LED2_PIN, GPIO_OUTPUT);
GPIOSetValue( LED2_PORT, LED2_PIN, LED_OFF);
GPIOSetDir( LED3_PORT, LED3_PIN, GPIO_OUTPUT);
GPIOSetValue( LED3_PORT, LED3_PIN, LED_OFF);
GPIOSetDir( LED4_PORT, LED4_PIN, GPIO_OUTPUT);
GPIOSetValue( LED4_PORT, LED4_PIN, LED_OFF);
GPIOSetDir( LED5_PORT, LED5_PIN, GPIO_OUTPUT);
GPIOSetValue( LED5_PORT, LED5_PIN, LED_OFF);
GPIOSetDir( LED6_PORT, LED6_PIN, GPIO_OUTPUT);
GPIOSetValue( LED6_PORT, LED6_PIN, LED_OFF);
GPIOSetDir( LED7_PORT, LED7_PIN, GPIO_OUTPUT);
GPIOSetValue( LED7_PORT, LED7_PIN, LED_OFF);
GPIOSetDir( LED8_PORT, LED8_PIN, GPIO_OUTPUT);
GPIOSetValue( LED8_PORT, LED8_PIN, LED_OFF);
//Set SW2/SW3 pins as inputs
GPIOSetDir( SW2_PORT, SW2_PIN, GPIO_INPUT);
GPIOSetDir( SW3_PORT, SW3_PIN, GPIO_INPUT);
//Extra, turn buzzer off
GPIOSetDir( BUZZ_PORT, BUZZ_PIN, GPIO_OUTPUT);
GPIOSetValue( BUZZ_PORT, BUZZ_PIN, BUZZ_OFF);
//Set RGB-LED pins as outputs
GPIOSetDir( LEDB_PORT, LEDB_PIN, GPIO_OUTPUT);
GPIOSetValue( LEDB_PORT, LEDB_PIN, LED_OFF);
initPWM(1000); //1000us = 1kHz PWM frequency
updatePWM(0, 100); //set 100% duty cycle for channel #0 (RED LED will be off)
updatePWM(1, 100); //set 100% duty cycle for channel #1 (GREEN LED will be off)
startPWM();
//Initialize ADC peripheral and pin-mixing
ADCInit(4500000); //4.5MHz ADC clock
//get initial value
analogValue = getADC(AIN0); //AIN0 = trimming pot for intensity
wantedDutyCycleB = 100;
state = 0;
while(1)
{
uint8_t loopCounter;
uint16_t adcCounter;
//Set BLUE LED output high
GPIOSetValue( LEDB_PORT, LEDB_PIN, 1);
//check if time to read analog input
if (adcCounter++ > 100)
{
adcCounter = 0;
//check push-button SW2
if (GPIOGetValue(SW2_PORT, SW2_PIN) == SW_PRESSED)
{
state++;
if (state > 2)
state = 0;
//wait until push-button is released
while(GPIOGetValue(SW2_PORT, SW2_PIN) == SW_PRESSED)
;
}
//Set wanted duty cycle - valid numbers: 0..100 (low number = LED on more)
wantedDutyCycle = getADC(AIN0) / 10; //trimming pot
//extra check to that range is valid
if (wantedDutyCycle > 99)
wantedDutyCycle = 99;
switch(state)
{
case 0: updatePWM(0, wantedDutyCycle); break;
case 1: updatePWM(1, wantedDutyCycle); break;
case 2: wantedDutyCycleB = wantedDutyCycle; break;
default: state = 0;
}
}
//Enter duty cycle generating loop
for (loopCounter=0; loopCounter<100; loopCounter++)
{
//10 corresponds to 1kHz (100*10us), LED flickering starts at around 30-40Hz PWM frequency
delayUS(10);
if (loopCounter == wantedDutyCycleB)
GPIOSetValue( LEDB_PORT, LEDB_PIN, 0); //Set output low
}
}
return 0;
}
