/******************************************************************************
* Função: Tarefa5
* Descrição : Função da quinta tarefa
* Parâmetros : nenhum
* Retorno : nenhum
*******************************************************************************/
void Tarefa5(void)
{
uint16_t LeituraADC;
char LeituraADCString[10];
LeituraADC = S12ADC_read();
sprintf(LeituraADCString,"ADC: %04ld",LeituraADC);
lcd_display(LCD_LINE6, LeituraADCString);
}
void Callback_1ms() {
/* Start the A/D converter */
S12ADC_start();
/*!!Safe check: stop timer count if sonar doesn't answer anymore */
if (sonarGetState() == SONAR_ECHO){
WDT_Increase(&sonarWDT);
}
/* Wait for the conversion to complete */
while (false == S12ADC_conversion_complete()) {
}
/* Fetch the results from the ADC */
analogRead = S12ADC_read();
}
/*******************************************************************************
* Function name: cmt_callback_readADC
* Description : This callback function is to be called from the CMT interrupt.
* The function reads the ADC conversion value of the potentiometer
* VR1 setting and the time period of the CMT counter is updated
* with a new value proportional to that setting. Then the toggle_led
* function is called. The result is that the LED toggle rate will
* vary based on the pot setting.
* Arguments : none
* Return value : none
*******************************************************************************/
static void cmt_callback_readADC(void)
{
uint16_t adc_value;
cmt_stop(CHANNEL_1); /* Stop the CMT counting. */
/* Read the ADC conversion result. */
adc_value = S12ADC_read();
/* Recalculate the new timer period to make the flash period visible. */
/* Max ADC value is 4096 (12 bits). Timer count must not exceed 16 bit value. */
g_timer_count = (adc_value * 10)+ 2000; /* Scale the delay and insure non-zero value. */
/* Start new count on cmt channel 0. */
cmt_start(CHANNEL_1, g_timer_count);
/* Execute the toggle LEDs function */
create_Obstacle();
} /* End of function cmt_callback_readADC(). */
void main(void)
{
//uint16_t adc_count;
float adc_count;
/* Initialize LCD */
lcd_initialize();
S12ADC_init();
//UART initialization
sci_uart_init();
sci_tx_int_enable();
sci_rx_int_enable();
/* Clear LCD */
lcd_clear();
/* Display message on LCD */
//Message will be on Position 1 and it will be stopped
lcd_display(LCD_LINE1, " Mitch and ");
lcd_display(LCD_LINE2, " Paul ");
lcd_display(LCD_LINE3, "Train Track ");
lcd_display(LCD_LINE4, " STOPPED ");
lcd_display(LCD_LINE5, " _oo_");
lcd_display(LCD_LINE6, " Pos1 |[][]|");
lcd_display(LCD_LINE7, " |O O|");
lcd_display(LCD_LINE8, " |____|");
/*
STDOUT is routed through the virtual console window tunneled through the JTAG debugger.
Open the console window in HEW to see the output
*/
printf("This is the debug console\r\n");
/* The three pushbuttons on the YRDK board are tied to interrupt lines, set them up here */
R_SWITCHES_Init();
//Intitalize all global variables
count=0;
Forward=0;
Backword=0;
Enable=0;
//Character to input from putty
char new_char;
//Initialize Local variables
int toggle=0;
//Initialize all LED's starting at position 1
LED4=LED_ON;
LED5=LED_ON;
LED6=LED_ON;
LED7=LED_ON;
LED8=LED_OFF;
LED9=LED_OFF;
LED10=LED_OFF;
LED11=LED_OFF;
LED12=LED_OFF;
LED13=LED_OFF;
LED14=LED_OFF;
LED15=LED_OFF;
while (1)
{
S12ADC_start();
while(false==S12ADC_conversion_complete())
{}
new_char= sci_get_char();
//Through the serial communication
if(new_char =='F' ||new_char=='f') //If inputted 'F' or 'f' move Forward
{
lcd_display(LCD_LINE4, " FORWARD ");
Forward=1;
Enable=1;
Backword=0;
sci_put_string("Remote: Forward\n\r");
}
if(new_char =='S' ||new_char=='s') //If inputted 'S' or 's' stop movement
{
lcd_display(LCD_LINE4, " STOPPED ");
//Forward=0;
Enable=0;
//Backward=0;
sci_put_string("Remote: Stop\n\r");
}
if(new_char =='R' ||new_char=='r') //If inputted 'R' or 'r' move in reverse
{
lcd_display(LCD_LINE4, " REVERSE ");
Forward=0;
Enable=1;
Backword=1;
sci_put_string("Remote: Reverse\n\r");
}
adc_count= S12ADC_read();
adc_count=adc_count/4095;
int adccount=adc_count*100;
char result[20];
sprintf(result, "sp%3d%|____|", adccount);
lcd_display(LCD_LINE8, (const uint8_t *) result);
// lcd_display(LCD_LINE8, adc_count);
if(new_char=='D'||new_char=='d') //If inputted 'D' or 'd' diplay the current speed
{
char speed[20];
sprintf(speed,"Current Speed: %3d \n\r",adccount);
sci_put_string(speed);
}
if(adc_count<=.01 & Enable==1)
{
lcd_display(LCD_LINE4, " STOPPED ");
//Forward=0;
Enable=0;
//Backward=0;
sci_put_string("Remote: Stop\n\r");
while(adc_count<=0.05)
{
inloop=1;
S12ADC_start();
while(false==S12ADC_conversion_complete())
{}
adc_count= S12ADC_read();
adc_count=adc_count/4095;
}
if(LastDir==1)
{
lcd_display(LCD_LINE4, " FORWARD ");
Forward=1;
Enable=1;
Backword=0;
sci_put_string("Forward\n\r");
}
else if(LastDir==-1)
{
lcd_display(LCD_LINE4, " REVERSE ");
Forward=0;
Enable=1;
Backword=1;
sci_put_string("Reverse\n\r");
}
inloop=0;
}
else if(adc_count<=.25)
{
delayMS(1000);
}
else if(adc_count<=.5)
{
delayMS(500);
}
else if(adc_count<=.75)
{
delayMS(100);
}
else if(adc_count<=1.0)
{
delayMS(10);
}
if(Enable==1)
{
trainMove();
if(toggle==1 && Backword==1)
{
lcd_display(LCD_LINE5, " _**_");
lcd_display(LCD_LINE7, " |* *|");
toggle=0;
}
else if(toggle==0 && Backword==1)
{
lcd_display(LCD_LINE5, " _oo_");
lcd_display(LCD_LINE7, " |O O|");
toggle=1;
}
if(Forward==1)
{
lcd_display(LCD_LINE5, " _oo_");
lcd_display(LCD_LINE7, " |* *|");
}
}
else
{
lcd_display(LCD_LINE5, " _oo_");
lcd_display(LCD_LINE7, " |O O|");
}
if(Forward==1 && Enable==1) {count++; if(count==12){count=0;}}
if(Backword==1 && Enable==1){count--; if(count==-1){count=11;}}
}
}
