void SendIRImpl(void)
{
WORD t,wait;
BYTE hilo;
WORD pos;
WORD byteOrWord; // 0:未設定
WriteTimer0(0);
INTCONbits.TMR0IF = 0;
hilo = 1;
pos = 0;
byteOrWord = 0;
while (1) {
wait = ReadBuffer(&pos,&byteOrWord);
if (wait==BUFF_EOF)
break;
if (wait==MAX_WAIT_CYCLE)
break;
do {
LED1_PORT = hilo;
IRLED_PORT = hilo;
DelayIRFreqHi();
t = ReadTimer0();
if (t >= wait)
break;
LED1_PORT = 0;
IRLED_PORT = 0;
DelayIRFreqLo();
t = ReadTimer0();
} while(t < wait);
WriteTimer0(0);
hilo = !hilo;
LED1_PORT = hilo;
IRLED_PORT = hilo;
}
// wait 10msec [1cycle==0.083333333us]
Delay10KTCYx(120);
LED1_PORT = 0;
IRLED_PORT = 0;
PutsString("OK\r\n");
LED1_PORT = 0;
IRLED_PORT = 0;
}
void main(void)
{
//timer vars
int result;
float final_result;
Delay100TCYx(10); //let the device startup
usart_init();
i2c_init();
printf("Starting\r\n");
// let sonar initialize, delay 250 ms
Delay1KTCYx(625);
TRISBbits.TRISB3 = 1; // data pin input
while(1)
{
while(PORTBbits.RB3 == 0);
// configure timer0
OpenTimer0(TIMER_INT_OFF & T0_16BIT & T0_SOURCE_INT & T0_PS_1_1);
WriteTimer0( 0 ); // restart timer
while(PORTBbits.RB3 == 1);
//Delay1TCY();
result = ReadTimer0(); // read timer
printf("Timer is %u \r\n", result);
final_result = (float)result / (float)(2.5*147);
printf("X / (4*147) = %i \r\n", (int)final_result);
}
}
void Robot_track_end(void)
{
WriteTimer0(0);
while((ReadTimer0()<40000) && (SeeLine.B==0))
{
set_motor_speed(left, medium, 0);
set_motor_speed(right, medium, 0);
}
if(ReadTimer0()>40000 )
{
while(SeeLine.B==0)
{
set_motor_speed(left, rev_slow, 0);
set_motor_speed(right, rev_slow, 0);
}
}
}
void InterruptHandlerLow (void)
{
unsigned int t0;
if(INTCONbits.TMR0IF) //check for TMR0 overflow interrupt flag
{
INTCONbits.TMR0IF = 0; //clear interrupt flag
t0=ReadTimer0();
WriteTimer0(t0 +18661); //Nastavi na 1.0 Sek
UTicTac++; // Povecaj idle števec
LATAbits.LATA3 = !LATAbits.LATA3;
}
}
void setupGame() {
game.myScore = HEALTH;
game.oppScore = HEALTH;
game.turn = 0;
game.gameOver = 0;
game.monSel = 0;
game.moveSel = 0;
game.myMove = NULL;
game.oppMove = NULL;
game.myMonster = NULL;
game.oppMonster = NULL;
srand(ReadTimer0());
}
void main (void)
{
int result;
usart_init();
set_timer();
printf("Start \r\n");
WriteTimer0(0);
while(1){
printf("In loop \r\n");
result = ReadTimer0(); // read timer
printf("Timer is %u \r\n", result);
//interrupt will run now
}
}
void ReadIR(void)
{
WORD t;
BYTE hilo;
BYTE exit;
WORD byteOrWord; // 0:未設定
WORD pos;
if (enableReadIR==0)
return;
if (IR_PORT == 1)
return;
// なにか信号があった
WriteTimer0(0);
INTCONbits.TMR0IF = 0;
hilo = 0;
pos = 0;
byteOrWord = 0;
exit = 0;
while (exit==0) {
LED1_PORT = !hilo;
do {
t = ReadTimer0();
if (INTCONbits.TMR0IF || (t > MAX_WAIT_CYCLE)) {
t = MAX_WAIT_CYCLE;
INTCONbits.TMR0IF = 0;
exit=1;
break;
}
} while (IR_PORT == hilo);
WriteTimer0(0);
exit += WriteBuffer(t,&pos,&byteOrWord);
hilo = !hilo;
}
LED1_PORT = 0;
WriteEOF(pos);
if (!WaitToReadySerial())
return;
PrintIRBuffer("received,");
}
void high_isr(void)
{
time = ReadTimer0();
if(INTCONbits.INT0IE && INTCONbits.INT0IF)
{
INTCONbits.INT0IF = 0;
check_sonar(0, INTCON2bits.INTEDG0);
INTCON2bits.INTEDG0 ^= 1; // On écoutera l'autre sens.
}
if(INTCON3bits.INT1IE && INTCON3bits.INT1IF)
{
INTCON3bits.INT1IF = 0;
check_sonar(1, INTCON2bits.INTEDG1);
INTCON2bits.INTEDG1 ^= 1; // On écoutera l'autre sens.
}
}
int LV_MAXSONAR_measure(void)
{
//timer vars
unsigned int result;
float temp_result;
while(1)
{
while(SONIC_SENSOR_PW_PIN == 0);
// configure timer0
OpenTimer0(TIMER_INT_OFF & T0_16BIT & T0_SOURCE_INT & T0_PS_1_1);
WriteTimer0( 0 ); // restart timer
while(PORTBbits.RB3 == 1);
result = ReadTimer0(); // read timer
temp_result = (float)result / (float)(TIMER_SCALE_FACTOR*147);
break;
}
result = (int)temp_result;
return result;
}
void isr_high( void )
{
fsk_tmr_value = ReadTimer0();
WriteTimer0(0);
if ( ( fsk_tmr_value >= BIT_0_75 ) && ( fsk_tmr_value < BIT_1_25 ) ) {
if ( ( RisingPosition & 1) == MIDDLE ) {
WriteData ( ( ( DataWriteIndex++ ) & 0x07 ), 0 );
}
else {
WriteData( ( (DataWriteIndex++ ) & 0x07 ), 1 );
}
}
else if( ( fsk_tmr_value >= BIT_1_25 ) && ( fsk_tmr_value < BIT_1_75 ) ) {
if ( ( RisingPosition & 1 ) == MIDDLE ) {
WriteData( ( ( DataWriteIndex++ ) & 0x07 ), 0 );
WriteData( ( ( DataWriteIndex++ ) & 0x07 ), 1 );
}
else {
WriteData( ( DataWriteIndex++ ) & 0x07 , 1 );
}
RisingPosition++; // change
}
else if ( ( fsk_tmr_value >= BIT_1_75 ) && ( fsk_tmr_value < BIT_2_25 ) ){
if ( ( RisingPosition & 1) == MIDDLE ) {
WriteData( ( ( DataWriteIndex++ ) & 0x07 ), 0 );
WriteData( ( ( DataWriteIndex++ ) & 0x07 ), 1 );
}
else {
InitFSKData();
}
RisingPosition = MIDDLE;
}
else {
InitFSKData();
}
/************* Analyze ****************/
switch ( RxState )
{
case HEADER:
while ( DataReadIndex != DataWriteIndex ) {
temp = ReadData( ( ( DataReadIndex++ ) & 0x07 ) );
if ( temp ) {
HeaderCounter++;
}
else {
HeaderCounter = 0;
}
if ( HeaderCounter >= 9 ) {
ParityCounter = 0;
HeaderCounter = 0;
DataBitCounter = 0;
EmDataIndex = 0;
RxState = DATA;
break;
}
} // while
break;
case DATA:
while ( DataReadIndex != DataWriteIndex ) {
temp = ReadData( ( ( DataReadIndex++ ) & 0x07 ) );
switch ( DataBitCounter ) {
case 4:
if ( (temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 9:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 14:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 19:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 24:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 29:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 34:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 39:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 44:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 49:
if ( ( temp & 1 ) != ( ParityCounter & 1 ) ) InitFSKData();
ParityCounter = 0;
break;
case 54:
if ( ( temp & 1 ) == 0) {
RotateLeftEmData();
RotateLeftEmData();
RotateLeftEmData();
RotateLeftEmData();
EmDataFlags.EmDataReceived = 1;
}
InitFSKData();
break;
default:
if ( ( temp & 1 ) ) ParityCounter++;
RotateLeftEmData();
if ( ( temp & 1 ) == 1 ) {
EmData[5] |= 0x01;
}
else {
EmData[5] &= 0xFE;
}
break;
} // switch databit counter
DataBitCounter++;
} // case DATA
break;
}
INTCONbits.INT0IF = 0;
return;
}
