//PING Sonar
//equations were taken from here and not independently verified:
//http://www.societyofrobots.com/member_tutorials/node/174
//http://www.societyofrobots.com/robotforum/index.php?topic=5123.msg40008
//http://www.societyofrobots.com/robotforum/index.php?topic=4656.30
//uses timer0
int sonar_Ping()
{
#define PINGPIN 0 // assign a pin to the Ping Sensor
#undef DDR
#undef PIN
#define DDR DDRC
#define PORT PORTC
#define PIN PINC
PORT_ON(DDR, PINGPIN); // Switch PingPin to OUPUT
// ------Trigger Pulse--------------
PORT_OFF(PORT, PINGPIN); // Bring PingPin low before starting trigger pulse
delay_us(2); // Wait for 2 microseconds
PORT_ON(PORT, PINGPIN); // Bring PingPin High for 5us according to spec sheet.
delay_us(5); // Wait for 5 microseconds
PORT_OFF(PORT, PINGPIN);; // Bring PingPin Low and standby
//--------End Trigger Pulse---------------------
FLIP_PORT(DDR, PINGPIN); // Switch PingPin to INPUT
loop_until_bit_is_set(PIN, PINGPIN); // Loop until the the PingPin goes high (macro found in sfr_def.h)
//clears timer, reset overflow counter
reset_timer0(); //reset timer 0
loop_until_bit_is_clear(PIN, PINGPIN); // Loop until the the PingPin goes low (macro found in sfr_def.h)
//read timer0's overflow counter
//255 is count before overflow, dependent on clock
return (get_timer0_overflow()*255+TCNT0) * 2.068965517;//elapsed time x conversion
}
static void
echo(double *ping_value,const uint8_t pingpin)
{
/*Round-trip-time, unit microseconds*/
uint16_t elapsed_time;
/* ------Trigger Pulse--------------------------*/
PORT_ON(DDR, pingpin);
PORT_OFF(PORT, pingpin);
_delay_us(2);
PORT_ON(PORT, pingpin);
_delay_us(5);
PORT_OFF(PORT, pingpin);
/*--------End Trigger Pulse---------------------*/
/*--------Meassure pulse------------------------*/
FLIP_PORT(DDR, pingpin);
loop_until_bit_is_set(PIN, pingpin);
reset_timer_0();
loop_until_bit_is_clear(PIN, pingpin);
/*--------Stop Meassure pulse-------------------*/
/* MAXCOUNTER is dependent on timer */
elapsed_time = (tot_overflow * MAXCOUNTER) + TCNT0;
/*Simple band-pass filter*/
if (elapsed_time >= ping_distance_max)
*ping_value = 0;
else if (elapsed_time <= ping_distance_min)
*ping_value = 0;
else
*ping_value = (elapsed_time * TO_CM);
_delay_us(250);
}
void flash_locked_led(void) {
unlocked_led(0); // turn off unlocked led
locked_led(1); // Turn on Locked led
for (unsigned int w=0;w<=5;w++) { // Flash Locked led
FLIP_PORT(PORTC,5); delay_ms(150);
}//end for
locked_led(1); // Turn on Locked led , make sure its on
}
void toggle_noconn_led(void){
FLIP_PORT(PORTC,6);
}
void toggle_locked_led(void){
FLIP_PORT(PORTC,5);
}
void toggle_unlocked_led(void){
FLIP_PORT(PORTC,4);
}
void toggle_repair_led(void){
FLIP_PORT(PORTC,7);
}
void toggle_pin_led(void){
FLIP_PORT(PORTC,3);
}
void toggle_hold_led(void) {
FLIP_PORT(PORTC,2);
}
void toggle_Lite(void) {
FLIP_PORT(PORTD,5);
}
