/* ---------- 育成ギアからの信号 ---------- */
DM_SIG_INT()
{
if (ctx.state == IDLE) {
IR_RCV_INT_DISABLE();
BIT_SET(GR_LED_PIN);
ctx.state = XMIT;
}
if (BIT_READ(DM_SIG_PIN) != 0) {
IR_LED_OFF();
} else {
IR_LED_ON();
}
ctx.count++;
if (ctx.count >= 36) {
ctx.count = 0;
IR_LED_OFF();
BIT_CLR(GR_LED_PIN);
ctx.state = IDLE;
_delay_us(500);
IR_RCV_INT_FLG_CLR();
IR_RCV_INT_ENABLE();
}
}
/* ---------- main ---------- */
int main(void)
{
ctx.state = IDLE;
ctx.count = 0;
ctx.timeout = 0;
DDRB = (1<<GR_LED_PIN) | (1<<RE_LED_PIN);
PORTB = (1<<DM_SIG_PIN) | (1<<IR_RCV_PIN); // プルアップ
MCUCR = (1<<ISC00); // 論理変化割り込み
PCMSK = (1<<DM_SIG_PIN);
GIMSK = (1<<INT0) | (1<<PCIE);
TCCR0A = (1<<COM0A0) | (1<<WGM01) | (1<<WGM00);
TCCR0B = (1<<WGM02) | (1<<CS00);
OCR0A = 126; // 38kHz
_delay_ms(500); // 受光モジュールが安定するまで待機
sei();
while (1) {
_delay_us(1000);
if (ctx.state == IDLE) {
ctx.timeout = 200;
} else {
ctx.timeout--;
}
if (ctx.timeout == 0) {
cli();
ctx.state = IDLE;
ctx.count = 0;
BIT_CLR(GR_LED_PIN);
BIT_CLR(RE_LED_PIN);
BIT_SET(DM_SIG_PIN);
INPUT_MODE(DM_SIG_PIN);
IR_LED_OFF();
IR_RCV_INT_FLG_CLR();
DM_SIG_INT_FLG_CLR();
IR_RCV_INT_ENABLE();
DM_SIG_INT_ENABLE();
sei();
}
}
return 0;
}
void main(void){
//==============================================================================
// Main Program
//
// Description: This function contains the while loop that runs continuously
// to act for the operating system. It also calls all the functions to
// initialize the system.
//
// Passed : no variables passed
// Locals: no variables declared
// Returned: no values returned
// Globals: volatile unsigned int Time_Sequence;
// volatile char one_time;
// char* display_1
// char* display_2
// char* display_3
// char* display_4
// slow_input_down
// control_state[CNTL_STATE_INDEX]
// char big
// char size_count;
// char posL1
// char posL2
// char posL3
// char posL4
//
// Author: David Pryor
// Date: Feb 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
Init_Ports(); // Initialize Ports
Init_Clocks(); // Initialize Clock System
Init_Conditions();
Time_Sequence = SWITCH_OFF; //
Init_Timers(); // Initialize Timers
Init_LEDs(); // Initialize LEDs
Init_LCD(); // Initialize LCD
Init_ADC(); // Initialize ADC
Init_Serial_UCA1(0); // BAUD rate 9600
Init_Serial_UCA0(1); // BAUD rate 9600
Five_msec_Delay(1);
PJOUT |= IOT_STA_MINIAP; //turning on miniap (only works this way)
IR_LED_OFF();
lcd_BIG_mid();
display_1 = " David ";
display_2 = "Project 8";
display_3 = " Pryor ";
display_4 = "";
Display_Process();
//------------------------------------------------------------------------------
// Begining of the "While" Operating System
//------------------------------------------------------------------------------
while(ALWAYS) { // Can the Operating system run
ADC_Process(); // call sampling function
if(MainFG){
Menu_Process();
}
else if(BaudMenuFG==TRUE){
Baud_Menu();
}
else if(IOTMenuFG==TRUE){
IOT_Menu();
}
if(StartCommandFG){ //StartCommandFG is true once "." has been received
commandTree();
}
printMacAddress(); //prints mac address to screen
macFG=FALSE; //turn off command to print mac address
clearReceiveBuffer();
parseIOTData();
}
//------------------------------------------------------------------------------
}
void IR_Calibration(void){
//==============================================================================
// COMMANDTREE
//
// Description: This function is used as a command tree for input commands
//
// Passed : no variables passed
// Locals: proceed
// Returned: no values returned
// Globals: ADC_Left_Detector
// ADC_Right_Detector
// thresholdL
// thresholdR
// left_calibration_black
// right_calibration_black
// left_calibration_white
// right_calibration_white
// display_1
// display_2
// display_3
// display_4
// switch_two_pressed
//
// Author: David Pryor
// Date: April 2016
// Compiler: Built with IAR Embedded Workbench Version: V4.10A/W32 (6.4.1)
//==============================================================================
int proceed = RESET;
ADC_Process(); // call sampling function
IR_LED_ON();
Five_msec_Delay(FOR_ONE_SECOND);
display_1 = "White Test";
display_2 = "Press SW2";
display_3 = "";
display_4 = "";
Display_Process();
while(proceed == FALSE){
if(switch_two_pressed){
proceed = TRUE;
switch_two_pressed = FALSE;
}
}
ADC_Process(); // call sampling function
right_calibration_white = ADC_Right_Detector;
left_calibration_white = ADC_Left_Detector;
proceed = RESET;
display_1 = "Black Test";
display_2 = "Press SW2";
display_3 = "";
display_4 = "";
Display_Process();
while(proceed == FALSE){
if(switch_two_pressed){
proceed = TRUE;
switch_two_pressed = FALSE;
}
}
ADC_Process(); // call sampling function
right_calibration_black = ADC_Right_Detector;
left_calibration_black = ADC_Left_Detector;
IR_LED_OFF();
thresholdR = ((right_calibration_black + right_calibration_white)/HALF)+THRESHOLD_SENSITIVITY;
thresholdL = ((left_calibration_black + left_calibration_white)/HALF)+THRESHOLD_SENSITIVITY;
}
