void printserialhex(uint16_t innum) {
uint16_t j1,in;
uint8_t p1,p2;
in = innum;
j1 = (in & 0x0f);
if (j1 > 9) p1 = (uint8_t)(j1 + 0x41 - 10);
else p1 = (uint8_t)(j1 +0x30);
j1 = (in & 0xf0) >> 4;
if (j1 > 9) p2 = (uint8_t)(j1 +0x41 - 10);
else p2 = (uint8_t)(j1 +0x30);
TransmitCharacter(p2);
TransmitCharacter(p1);
}
void printserialsingned(uint16_t innum) {
uint16_t j1,k1,l1,m1,in;
uint8_t p1,p2,p3,p4,p5;
if(innum < 0x8000) {
in = innum;
TransmitCharacter('+');
}
else {
in = (uint16_t)(~innum);
//in = 0x7fff - in;
TransmitCharacter('-');
}
j1 = (in / 10);
p1 = (uint8_t)(in - j1*10 +0x30);
k1 = (j1 / 10);
p2 = (uint8_t)(j1 - k1*10 +0x30);
l1 = (k1 / 10);
p3 = (uint8_t)(k1 - l1*10 +0x30);
m1 = (l1 / 10);
p4 = (uint8_t)(l1 - m1*10 +0x30);
p5 = (uint8_t)m1 +0x30;
TransmitCharacter(p5);
TransmitCharacter(p4);
TransmitCharacter(p3);
TransmitCharacter(p2);
TransmitCharacter(p1);
TransmitCharacter(0x09);
}
void printlistall(void) {
TransmitCharacter(0x0a);
TransmitCharacter(0x0d);
for(pt=0;pt<120;pt++){
//pt++;
//pt++;
printserialhex(Result[pt]);
TransmitData(" ");
//printserial(list[pt]);
}
TransmitCharacter(0x0a);
TransmitCharacter(0x0d);
}
void TransmitData (char TransData[])
{
uint8_t j=0; /* Dummy variable */
while(TransData[j]){
TransmitCharacter(TransData[j]); /* Transmit a byte */
j++;
}
}
void TransmitData (char TransData[])
{
uint8_t j,k; /* Dummy variable */
k = strlen (TransData);
for (j=0; j< k; j++)
{ /* Loop for character string */
TransmitCharacter(TransData[j]); /* Transmit a byte */
}
}
void printlistall(void) {
//TransmitCharacter(0x0a);
//TransmitCharacter(0x0d);
for(pt=0;pt<128;pt++){
//pt++;
//pt++;
printserialsingned(Result[pt]);
//printserial(list[pt]);
}
TransmitCharacter(0x0a); // LIne feed
//TransmitCharacter(0x0d); // carrige return
}
void acquisitionLineSensors(void)
{
uint32_t Counter_value_start = EMIOS_0.CH[16].CCNTR.B.CCNTR;
uint32_t Counter_value_tmp = 0;
uint8_t i = 0;
uint8_t capteur_resultat[7];
uint8_t seuil_capteur[7];
uint8_t k;
while(i<7) // Boucle de test pour chaque Capteur
{
seuil_capteur[i] = potent_entre(400,1600); // On lit sur le potent le seuil du capteur i
// Affichage textuel en xbee
TransmitData("\n\nOn teste le capteur :");
TransmitCharacter(i);
TransmitData("\nLe temps est : ");
TransmitCharacter(seuil_capteur[i]);
TransmitData("\nLe capteur detecte :");
PIT_Enable_Channel(1);
do
{
SIU.PGPDO[1].B.PPD0 = 0xfe000000; //3f810000; // Pins level HIGH
}while(PIT.CH[6].CVAL.R < 9 );
PIT_Disable_Channel(1); // Charging the sensor for 10 us
SIU.PCR[32].R = 0x0100; // Pin set as an INPUT
SIU.PCR[33].R = 0x0100; // Pin set as an INPUT
SIU.PCR[34].R = 0x0100; // Pin set as an INPUT
SIU.PCR[35].R = 0x0100; // Pin set as an INPUT
SIU.PCR[36].R = 0x0100; // Pin set as an INPUT
SIU.PCR[37].R = 0x0100; // Pin set as an INPUT
SIU.PCR[38].R = 0x0100; // Pin set as an INPUT
// Réinitialisation des valeurs lues sur les capteurs
for(k = 0; k < 7; k++)
{
capteur_resultat[k] = 1;
}
Counter_value_start = EMIOS_0.CH[16].CCNTR.B.CCNTR;
while(((Counter_value_tmp - Counter_value_start) % EMIOS_0.CH[16].CADR.R) < 2000)// Temps total d'acquisition // On fait l'aquisition <1600 et on fait varier le potentiometre entre 400 et 1600
{
if(SIU.GPDI[32].B.PDI != 1 && EMIOS_0.CH[16].CCNTR.B.CCNTR< seuil_capteur[0])//798
{
capteur_resultat[0] = 0;
}
if(SIU.GPDI[33].B.PDI != 1 && EMIOS_0.CH[16].CCNTR.B.CCNTR< seuil_capteur[1])
{
capteur_resultat[1] = 0;
}
if(SIU.GPDI[34].B.PDI != 1 && EMIOS_0.CH[16].CCNTR.B.CCNTR< seuil_capteur[2])
{
capteur_resultat[2] = 0;
}
if(SIU.GPDI[35].B.PDI != 1 && EMIOS_0.CH[16].CCNTR.B.CCNTR< seuil_capteur[3])
{
capteur_resultat[3] = 0;
}
if(SIU.GPDI[35].B.PDI != 1 && EMIOS_0.CH[16].CCNTR.B.CCNTR< seuil_capteur[4])
{
capteur_resultat[4] = 0;
}
if(SIU.GPDI[36].B.PDI != 1 && EMIOS_0.CH[16].CCNTR.B.CCNTR< seuil_capteur[5])
{
capteur_resultat[5] = 0;
}
if(SIU.GPDI[37].B.PDI != 1 && EMIOS_0.CH[16].CCNTR.B.CCNTR< seuil_capteur[6])//686
{
capteur_resultat[6] = 0;
}
Counter_value_tmp = EMIOS_0.CH[16].CCNTR.B.CCNTR;
}
// Affichage du résultat du capteur courant i
if(capteur_resultat[i])
{
TransmitData(" Blanc");
}
else
TransmitData(" Noir");
SIU.PCR[32].R = 0x0200; // Pin set as an OUTPUT // PC[0]
SIU.PCR[33].R = 0x0200; // Pin set as an OUTPUT // PC[1]
SIU.PCR[34].R = 0x0200; // Pin set as an OUTPUT // PC[2]
SIU.PCR[35].R = 0x0200; // Pin set as an OUTPUT // PC[3]
SIU.PCR[36].R = 0x0200; // Pin set as an OUTPUT // PC[4]
SIU.PCR[37].R = 0x0200; // Pin set as an OUTPUT // PC[5]
SIU.PCR[38].R = 0x0200; // Pin set as an OUTPUT // PC[6]
if(SIU.PGPDI[2].R & 0x40000000) // SI le bouton 2 est appuyé on passe au capteur suivant
{
i++;
delay(1000000);
}
}
}
