void sonar_print(void)
{
uint8_t i;
for (i=0; i<10; i++) {
usart->tx0_buffer = utoa(sonar[i], usart->tx0_buffer, 10);
usart_printstr(0, NULL);
usart_printstr(0, " ");
}
usart_printstr(0, "\n");
}
void loop() {
// cc++;
// if (cc>60000) {
// status = !status;
// if (status) {
// SETP(RELAY_PIN);
// } else {
// CLRP(RELAY_PIN);
// }
// cc = 0;
// }
if (usart_chrready()) {
char ch = usart_getchr();
switch (ch) {
case 'h':
{
usart_printstr("\n\r"
"h - help\n\r"
"o - open doors\n\r"
"c - close doors\n\r"
"s = status\n\r");
break;
}
case 'o':
{
SETP(RELAY_PIN);
status = 1;
break;
}
case 'c':
{
CLRP(RELAY_PIN);
status = 0;
break;
}
case 's':
{
if (status) {
usart_printstr("1");
} else {
usart_printstr("0");
}
break;
}
default:
{
break;
}
}
usart_printstr("\n\rok\n\r");
}
}
int main(void)
{
uint16_t counter;
char c;
uint8_t stop = TRUE;
usart_init();
sonar_init();
rtc_setup();
counter = 0;
usart_resume(0);
strcpy_P(usart->tx0_buffer, PSTR("\nTsunami Simulator "));
strcat_P(usart->tx0_buffer, PSTR(GITREL));
strcat_P(usart->tx0_buffer, PSTR("\n\nConnected!\n"));
usart_printstr(0, NULL);
rtc_start();
while (1) {
/* Restart the counter */
rtc_clear();
c = usart_getchar(0, FALSE);
switch (c) {
case '0':
stop = TRUE;
break;
case '1':
stop = FALSE;
break;
default:
break;
}
if (stop) {
/* stop the code */
while(usart_getchar(0, FALSE) != '1');
stop = FALSE;
rtc_clear();
}
/* send the trigger */
sonar_trigger();
/* clear all the data */
sonar_clear();
/*
* Wait 40mS maximum and collect all the
* data during the period.
*/
while (rtc_us < 4000)
sonar_set();
/*
* speed = ((i * SCALEuS)/1000000) * 340 / 2
* where:
* i * SCALEuS is the duration in uS of the signal.
* (i * SCALEuS)/1000000 is the same in seconds.
* 340 is the speed of the sound and
* /2 we need only half of the way.
* The simplyfied formula in cm.
* 340 mm/msec = 34cm/msec = 0.029 msec/cm = 29 uS/cm
* dist (cm) = T (uS) / 29 /2.
*/
usart->tx0_buffer = utoa(counter, usart->tx0_buffer, 10);
usart_printstr(0, NULL);
usart_printstr(0, " ");
counter++;
sonar_print();
/* if the counter has already reach 50mS,
* then this cycle takes too long.
*/
if (rtc_us > 5000)
usart_printstr(0, "Warning! Time overrun.\n");
/* Wait up to 50mS before restart */
while (rtc_us < 5000);
}
return(0);
}
