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Receiver.c
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Receiver.c
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// C8051F381_ADC_multiple_inputs.c: Shows how to use the 10-bit ADC and the
// multiplexer. This program measures the voltages applied to pins P2.0 to P2.3.
//
// (c) 2008-2014, Jesus Calvino-Fraga
//
// ~C51~
#include <stdio.h>
#include <stdlib.h>
#include <c8051f38x.h>
#include <math.h>
#define MHZ 1000000L
#define SYSCLK (48*MHZ)
#define BAUDRATE 115200L
#define iterations 40000
volatile int dist = 3;
volatile float buffer = 0.4;
volatile float distance;
char _c51_external_startup (void)
{
PCA0MD&=(~0x40) ; // DISABLE WDT: clear Watchdog Enable bit
// CLKSEL&=0b_1111_1000; // Not needed because CLKSEL==0 after reset
#if (SYSCLK == (12*MHZ))
//CLKSEL|=0b_0000_0000; // SYSCLK derived from the Internal High-Frequency Oscillator / 4
#elif (SYSCLK == (24*MHZ))
CLKSEL|=0b_0000_0010; // SYSCLK derived from the Internal High-Frequency Oscillator / 2.
#elif (SYSCLK == (48*MHZ))
CLKSEL|=0b_0000_0011; // SYSCLK derived from the Internal High-Frequency Oscillator / 1.
#else
#error SYSCLK must be either 12MHZ, 24MHZ, or 48MHZ
#endif
OSCICN |= 0x03; // Configure internal oscillator for its maximum frequency
// Configure P2.0 to P2.3 as analog inputs
P1MDIN &= 0b_0000_0000; // P2.0 to P2.3
P1SKIP |= 0b_1111_1111; // Skip Crossbar decoding for these pins
// Init ADC multiplexer to read the voltage between P2.0 and ground.
// These values will be changed when measuring to get the voltages from
// other pins.
// IMPORTANT: check section 6.5 in datasheet. The constants for
// each pin are available in "c8051f38x.h" both for the 32 and 48
// pin packages.
AMX0P = LQFP32_MUX_P1_0; // Select positive input from P2.0
AMX0N = LQFP32_MUX_GND; // GND is negative input (Single-ended Mode)
// Init ADC
ADC0CF = 0xF8; // SAR clock = 31, Right-justified result
ADC0CN = 0b_1000_0000; // AD0EN=1, AD0TM=0
REF0CN=0b_0000_1000; //Select VDD as the voltage reference for the converter
VDM0CN=0x80; // enable VDD monitor
RSTSRC=0x02|0x04; // Enable reset on missing clock detector and VDD
P0MDOUT|=0x10; // Enable Uart TX as push-pull output
XBR0=0x01; // Enable UART on P0.4(TX) and P0.5(RX)
XBR1=0x40; // Enable crossbar and weak pull-ups
#if (SYSCLK/BAUDRATE/2L/256L < 1)
TH1 = 0x10000-((SYSCLK/BAUDRATE)/2L);
CKCON &= ~0x0B; // T1M = 1; SCA1:0 = xx
CKCON |= 0x08;
#elif (SYSCLK/BAUDRATE/2L/256L < 4)
TH1 = 0x10000-(SYSCLK/BAUDRATE/2L/4L);
CKCON &= ~0x0B; // T1M = 0; SCA1:0 = 01
CKCON |= 0x01;
#elif (SYSCLK/BAUDRATE/2L/256L < 12)
TH1 = 0x10000-(SYSCLK/BAUDRATE/2L/12L);
CKCON &= ~0x0B; // T1M = 0; SCA1:0 = 00
#else
TH1 = 0x10000-(SYSCLK/BAUDRATE/2/48);
CKCON &= ~0x0B; // T1M = 0; SCA1:0 = 10
CKCON |= 0x02;
#endif
P2MDOUT|=0b_0000_00000;
TL1 = TH1; // Init timer 1
TMOD &= 0x0f; // TMOD: timer 1 in 8-bit autoreload
TMOD |= 0x20;
TR1 = 1; // Start timer1
SCON = 0x52;
return 0;
}
// Uses Timer3 to delay <us> micro-seconds.
void Timer3us(unsigned char us)
{
unsigned char i; // usec counter
// The input for Timer 3 is selected as SYSCLK by setting T3ML (bit 6) of CKCON:
CKCON|=0b_0100_0000;
TMR3RL = (-(SYSCLK)/1000000L); // Set Timer3 to overflow in 1us.
TMR3 = TMR3RL; // Initialize Timer3 for first overflow
TMR3CN = 0x04; // Sart Timer3 and clear overflow flag
for (i = 0; i < us; i++) // Count <us> overflows
{
while (!(TMR3CN & 0x80)); // Wait for overflow
TMR3CN &= ~(0x80); // Clear overflow indicator
}
TMR3CN = 0 ; // Stop Timer3 and clear overflow flag
}
void waitms (unsigned int ms)
{
unsigned int j;
unsigned char k;
for(j=0; j<ms; j++)
for (k=0; k<4; k++) Timer3us(250);
}
void wait_bit_time(){
float n=iterations;
while (n>0){
n--;
}
return;
}
void wait_one_and_half_bit_time(){
float n=1.5*iterations;
while (n>0){
n--;
}
return;
}
float Get_ADC(int channel){
float v;
int i;
int j;
float vpeak = 0;
switch (channel){
case 0:
AMX0P=LQFP32_MUX_P1_0;
break;
case 1:
AMX0P=LQFP32_MUX_P1_1;
break;
case 2:
AMX0P=LQFP32_MUX_P1_2;
break;
case 3:
AMX0P=LQFP32_MUX_P1_3;
break;
case 4:
AMX0P=LQFP32_MUX_P1_4;
break;
case 5:
AMX0P=LQFP32_MUX_P1_5;
break;
case 6:
AMX0P=LQFP32_MUX_P1_6;
break;
case 7:
AMX0P=LQFP32_MUX_P1_7;
break;
}
vpeak =0;
for(i = 0; i<20; i++){
for(j = 0; j<100; j++){
AD0BUSY = 1;
while (AD0BUSY); // Wait for conversion to complete
v = ((ADC0L+(ADC0H*0x100))*3.325)/1023.0; // Read 0-1023 value in ADC0 and convert to volts
if(vpeak < v)
vpeak = v;
}
}
vpeak += 0.1;
return vpeak;
}
int rx_byte (float min)
{
int j, val;
int v;
//skip the start bit
val = 0;
Get_ADC(1);
wait_one_and_half_bit_time();
for (j=0; j<8; j++)
{
v = Get_ADC(1);
val|=(v>min)?(0x01<<j):0x00; //if voltage is greater than "min" then the returned val gets a bit at the right position
wait_bit_time();
}
//wait for stop bits
wait_one_and_half_bit_time();
return val;
}
#define VDD 3.325 // The measured value of VDD in volts
void main (void)
{
int byte = 300;
float v0 = 0;
float v1 = 0;
float v2 = 0;
float v3 = 0;
float valign = 0;
double vright = 0;
double vleft = 0;
int temp = 0;
P2_0 = 1; //front LED
P2_1 = 0; //back LED
printf("\x1b[2J"); // Clear screen using ANSI escape sequence.
// Start the ADC in order to select the first channel.
// Since we don't know how the input multiplexer was set up,
// this initial conversion needs to be discarded.
AD0BUSY=1;
while (AD0BUSY); // Wait for conversion to complete
while(1)
{
v0 = Get_ADC(1);
v1 = Get_ADC(2);
v2 = Get_ADC(3);
v3 = Get_ADC(0);
if(dist == 2){
vright = v1;
vleft = v3;
distance = 2.8;
}
if(dist == 1){
buffer = 0.2;
vright = v0;
vleft = v2;
distance = 1.5;
}
if(dist == 3){
vright = v1;
vleft = v3;
distance = 2.0;
buffer = 0.3;
}
if(dist == 4){
vright = v1;
vleft = v3;
distance = 1.2;
buffer = 0.2;
}
if(dist == 5){
vright = v1;
vleft = v3;
distance = 0.5;
buffer = 0.3;
}
valign = abs(vleft-vright);
printf("Vright = %5.3f ", vright);
printf("Vleft = %5.3f", vleft);
printf("distance = %d\r", dist);
/* if(vleft<0.15){
P2_2 = 0;
P2_3 = 0;
P2_4 = 0;
P2_5 = 0;
byte = rx_byte(0.2);
printf("\n byte = %d\n", byte);
}*/
if(valign < 0.2){
//straight
if(vright+buffer>distance && vright - buffer < distance){//stay
P2_2 = 0;
P2_3 = 0;
P2_4 = 0;
P2_5 = 0;
}
else if (vright-buffer > distance){//back
P2_2 = 1;
P2_3 = 0;
P2_4 = 0;
P2_5 = 1;
}
else{//forward
P2_2 = 0;
P2_3 = 1;
P2_4 = 1;
P2_5 = 0;
}
}
else{
printf("\n\rTURNING\n\r");
if(vright > vleft){
P2_2 = 0;
P2_3 = 0;
P2_4 = 1;
P2_5 = 0;
}
else{
P2_2 = 0;
P2_3 = 1;
P2_4 = 0;
P2_5 = 0;
}
}
if(byte == 0 || byte == 1 || byte == 129 || byte == 128){ // move farther p0
if(dist != 5){
dist++;
}
byte = 300;
}
if(byte == 254 || byte == 255 || byte == 253 ){ //move closer p1
if(dist != 1){
dist--;
}
byte = 300;
printf("move closer \n");
}
if(byte == 14 || byte == 15 || byte == 7){ //rotate 180 p2
byte = 300;
P2_2 = 0;
P2_3 = 1;
P2_4 = 0;
P2_5 = 0;
waitms(2500);
P2_2 = 0;
P2_3 = 0;
P2_4 = 0;
P2_5 = 0;
if (dist != 5){
dist++;
}
printf("rotate 180 \n");
}
if(byte == 238 || byte == 239 || byte == 119){ //front leds p3
P2_0 = !P2_0;
byte = 300;
printf("ledfront \n");
}
if(byte == 56 || byte == 57 || byte == 25){ //back leds p4
P2_1 = !P2_1;
byte = 300;
printf("ledback \n");
}
if(byte == 246 || byte == 243 || byte ==251){ //buzzer p5
byte = 300;
printf("buzz on \n");
}
if(byte == 124 || byte == 125 || byte == 61){ //p park p6
byte = 300;
P2_2 = 0;
P2_3 = 1;
P2_4 = 0;
P2_5 = 0;
waitms(1000);
P2_2 = 1;
P2_3 = 0;
P2_4 = 0;
P2_5 = 1;
waitms(1500);
P2_2 = 0;
P2_3 = 0;
P2_4 = 1;
P2_5 = 0;
waitms(1000);
P2_2 = 0;
P2_3 = 1;
P2_4 = 1;
P2_5 = 0;
waitms(500);
P2_2 = 0;
P2_3 = 0;
P2_4 = 0;
P2_5 = 0;
waitms(2000);
printf("park \n");
}
}
}