interrupt [TWI] void TWI_interface(void) {
recieveData();
switch(index_in) {
case 'K' :
i2ckilled = 1;
index_in = 0;
break;
case 'S' :
if(Data_in > 10)
Data_in = 10;
else if(Data_in < 0)
Data_in = 0;
maxspeed = Data_in;
index_in = 0;
break;
case 'V' :
getSpeedIndex();
index_in = 0;
break;
case 'P' :
//sendData('P', keypad, TWI_SENSOR_ADDR);
//keypad = keypad_oneKey(); //polling
//sendData('P', keypad, TWI_SENSOR_ADDR);
index_in = 0;
break;
default:
break;
}
}
Vertex *updateNeighborhood(Graph *g,Vertex *u)
{
int i,j;
Vertex *v;
Pilot *np, *p;
Vect *nextAcc;
int boost=((Vect4D *)u->e)->b;
int l=boost>0?2:1;
p=createPilotFromVertex(u);
for(i=-l;i<=l;i++)
{
for(j=-l;j<=l;j++)
{
np=createEmptyPilot();
nextAcc=createVect(i,j);
np->speed=vectSum(p->speed,nextAcc);
np->pos=vectSum(p->pos,np->speed);
if(isValidMove(p,np,g->field))
{
boost=(i==-2||i==2||j==-2||j==2)?((Vect4D *)u->e)->b-1:((Vect4D *)u->e)->b;
v=g->vertices[np->pos->x][np->pos->y][getSpeedIndex(np->speed)][boost];
if(v->distance>u->distance+1)
{
v->previous=u;
v->distance=u->distance+1;
fh_insertkey(g->heap,v->distance,v);
}
if(g->field->cell[np->pos->x][np->pos->y]=='=')
{
return v;
}
}
else
{
destroyPilot(np);
destroyVect(nextAcc);
continue;
}
destroyVect(nextAcc);
}
}
return NULL;
}
Vertex *getVertexFromPilot(Graph *g,Pilot *p)
{
return g->vertices[p->pos->x][p->pos->y][getSpeedIndex(p->speed)][2];
}
void main(void)
{
unsigned int UBR = XTAL/(16*BAUD) -1;
// USART0 initialization
UBRR0H=(unsigned char)(UBR >>8);
UBRR0L=(unsigned char)(UBR &0xFF);
UCSR0A=0x00;
UCSR0B=0xD8;
UCSR0C=0x06; // 0000 0110 character size reserved, asynchronous operation
// USART1 initialization
UBRR1H=(unsigned char)(UBR >>8);
UBRR1L=(unsigned char)(UBR & 0xFF);
UCSR1A = 0x00; //normal data rate for asynchronous operation
UCSR1B=0xD8; // 1101 1000 enable transmitter, reciever, interupts on transmit and recieve complete
UCSR1C=0x06; // 0000 0110 character size reserved, asynchronous operation
// SPEED PWM - HBRIDGE CONTROL
//B 5,6 output compare
//B 1 SPI clk
DDRB = 0x60; // 0110 0000
// TIMER INTERRUPT
//-11- --00
//outputcompare/timer overflow
TIMSK = 0x01; // 0000 0001
// TIMER 0
//TCCR
//interrupt to update pwm
//---- -xxx
//0: stopped, 1: no scaling, 2: 8, 3: 32, 4: 64, 5:128, 6: 256, 7: 1024
//-000 0---
//no output compare, overflow on max
TCCR0 = 0x07; // 0000 0111
// TIMER 1
// SPEED PWM - HBRIDGE CONTROL
//TCCRA: AABB CC--
//Overflow at top
//Clear OCR1 on compare match
//TCCRA: ---- --xx TCCRB: ---xx---
//Fast PWM
//Top = ICR1
//Update OCR1 at top
//TCCRB: ---- -xxx
//0:stopped 1:no prescaling 2: 8 3:64 4:256 5:1024 6,7: external clock
TCCR1A = 0xF2; // 111100 10
TCCR1B = 0x19; // 00011 001
ICR1H = TOP >> 8;
ICR1L = TOP & 0xFF;
// TIMER 3
// ENCODER TICKS COUNTER
//---- -xxx
//6: clock on Tn pin rising 7: Clock on Tn pin falling
TCCR3A = 0x00;
TCCR3B = 0x07;
//EIMSK = 0b11000000;
//EICRA = 0b00001000;
//TWI_init(TWI_ADDR);
initcamera();
//keypad_init();
get_calibrated_settings(speed_range, speed_slope, speed_height, speed_max_mem);
#asm("sei");
while(1)
{
getstuff();
getSpeedIndex();
updatespeed();
if(testvar ==30)
{
//printf("\rstate: %d maxspeed: %d ticks: %d topspeed: %d\r", state,maxspeed, ticks, topspeed);
printf("keypad: %d",keypad);
printf("index_in: %d Data_in: %d\r", index_in,Data_in);
testvar =0;
}
};
}
