void calibrate(uint32_t val){
uint32_t nrOfCalibrations = 16;
float percent = whitePercent;
whitePercent = 0.3;
if(allWhite( )){
for(uint16_t i=0;i<nrOfSensors;i++){
ADC_MIN[i]=0;
}
for(uint32_t i = 0; i < nrOfCalibrations; i++){
readAdc( );
for(uint32_t j = 0; j < nrOfSensors; j++){
ADC_MIN[j] += ADC_avgBuff[j];
}
}
for(uint16_t i=0;i<nrOfSensors;i++){
ADC_MIN[i]=ADC_MIN[i]/nrOfCalibrations;
ADC_DIF[i] = ADC_MAX[i] - ADC_MIN[i];
}
}else{
GPIO_ToggleBits(GPIOD, GPIO_Pin_14);
for(uint16_t i=0;i<nrOfSensors;i++){
ADC_MAX[i]=0;
}
for(uint32_t i = 0; i < nrOfCalibrations; i++){
readAdc( );
for(uint32_t j = 0; j < nrOfSensors; j++){
ADC_MAX[j] += ADC_avgBuff[j];
}
}
for(uint16_t i=0;i<nrOfSensors;i++){
ADC_MAX[i]=ADC_MAX[i]/nrOfCalibrations;
ADC_DIF[i] = ADC_MAX[i] - ADC_MIN[i];
}
}
whitePercent = percent;
}
uint16_t readOversampledAdc(unsigned char adc_input)
{
uint16_t value = 0;
for (uint8_t i=0; i<64; i++)
value += readAdc(adc_input);
return value / 64;
}
void regulator( ){
// Read ADC.
readAdc( );
AdcToPercetage( );
setLED( );
// Was the line found?
if(theLineIsLost( )){
*isFindingLineValue = 1.0;
isFindingLine = true; //GPIO_SetBits(GPIOD, GPIO_Pin_14);
}else{
*isFindingLineValue = -1.0;
isFindingLine = false; //GPIO_ResetBits(GPIOD, GPIO_Pin_14);
}
// Decide upon former.
if(isFindingLine){
stopTimer++;
if(*virtualSensorValue < 0.0){ drive_turn_right(80); }
else{ drive_turn_left(90); }
}
else{
pid( );
}
}
u16 readFilterAdc(u8 cmd)
{
u16 i, j;
u16 buf[READ_TIMES];
u16 sum;
u16 temp;
for(i=0; i<READ_TIMES; i++){
buf[i]=readAdc(cmd);
}
for(i=0; i<READ_TIMES-1; i++){ //升序排列
for(j=i+1; j<READ_TIMES; j++){
if(buf[i]>buf[j]){
temp=buf[i];
buf[i]=buf[j];
buf[j]=temp;
}
}
}
sum=0;
for(i=LOST_VAL; i<READ_TIMES-LOST_VAL; i++){
sum+=buf[i];
}
temp=sum/(READ_TIMES-2*LOST_VAL);
return temp;
}
/**************************************************************************//**
* @brief Read touchscreen X or Y position (12bit resolution)
* @param[in] ch X (ADC_X) or Y (ADC_Y) touchscreen readout
* @return Touchscreen X or Y position
*****************************************************************************/
static uint32_t getTouchChSample12bit( ADC_SingleInput_TypeDef ch )
{
int i;
uint32_t value, min, max, acc;
if ( ch == ADC_X )
{
GPIO_PinModeSet(LCD_TOUCH_Y1, gpioModePushPull, 0);
GPIO_PinModeSet(LCD_TOUCH_Y2, gpioModePushPull, 1);
GPIO_PinModeSet(LCD_TOUCH_X1, gpioModeInput, 0);
GPIO_PinModeSet(LCD_TOUCH_X2, gpioModeInput, 0);
}
else
{
GPIO_PinModeSet(LCD_TOUCH_X1, gpioModePushPull, 1);
GPIO_PinModeSet(LCD_TOUCH_X2, gpioModePushPull, 0);
GPIO_PinModeSet(LCD_TOUCH_Y1, gpioModeInput, 0);
GPIO_PinModeSet(LCD_TOUCH_Y2, gpioModeInput, 0);
}
sInit.input = ch;
ADC_InitSingle(ADC0, &sInit);
delayUs( 10 );
acc = 0;
max = 0;
min = 4096;
for ( i=0; i<5; i++ )
{
value = readAdc();
acc += value;
min = EFM32_MIN( min, value );
max = EFM32_MAX( max, value );
}
/* Throw away largest and smallest sample */
acc = acc - min - max;
/* Average */
acc = acc / 3;
if ( ch == ADC_X )
{
GPIO_PinModeSet(LCD_TOUCH_Y1, gpioModeInput, 0);
GPIO_PinModeSet(LCD_TOUCH_Y2, gpioModeInput, 0);
}
else
{
GPIO_PinModeSet(LCD_TOUCH_X1, gpioModeInput, 0);
GPIO_PinModeSet(LCD_TOUCH_X2, gpioModeInput, 0);
}
return acc;
}
void updateSimpleSensors(void)
{
ADC_Init();
//Send ADC+digital pins
//ADC pins
for (uint8_t i=0; i<=7; i++)
{
uint8_t eepos = 100 + i;
simpleSensorTypes[i] = eepromReadByte(eepos);
if (simpleSensorTypes[i] == TYPE_ADC) //ADC
{
simpleSensorValues[i] = readAdc(i);
}
if (simpleSensorTypes[i] == TYPE_DIGIN) //DIGITAL
{
if (GETBIT(PINA, i) > 0)
simpleSensorValues[i] = 1;
else
simpleSensorValues[i] = 0;
}
}
ADCSRA &= ~(1 << ADEN); //disable ADC to save power
//Digital pins
for (uint8_t i=0; i<=3; i++)
{
uint8_t eepos = 110 + i;
simpleSensorTypes[i+8] = eepromReadByte(eepos);
if (simpleSensorTypes[i+8] == TYPE_DIGIN || simpleSensorTypes[i+8] == TYPE_DIGOUT) //DIGITAL
{
//Digital pins is C2-5
if (GETBIT(PINC, (i+2)) > 0)
simpleSensorValues[i+8] = 1;
else
simpleSensorValues[i+8] = 0;
}
}
//3=COUNTER, not handled here, 0=digital out
}
/**************************************************************************//**
* @brief Check if touch screen is "touched"
* @return true if screen touched
*****************************************************************************/
static bool touched( void )
{
uint32_t adcValue;
GPIO_PinModeSet(LCD_TOUCH_X1, gpioModePushPull, 0);
GPIO_PinModeSet(LCD_TOUCH_X2, gpioModePushPull, 1);
GPIO_PinModeSet(LCD_TOUCH_Y1, gpioModeInput, 0);
GPIO_PinModeSet(LCD_TOUCH_Y2, gpioModePushPull, 1);
delayUs( 10 );
GPIO_PinModeSet(LCD_TOUCH_Y2, gpioModeInputPull, 1);
delayUs( 10 );
sInit.input = ADC_Y;
ADC_InitSingle(ADC0, &sInit);
adcValue = readAdc();
GPIO_PinModeSet(LCD_TOUCH_X1, gpioModeInput, 0);
GPIO_PinModeSet(LCD_TOUCH_X2, gpioModeInput, 0);
GPIO_PinModeSet(LCD_TOUCH_Y2, gpioModeInput, 0);
return ( adcValue < 3800 ) ? true : false;
}
/* The Sensor reading task */
void vTaskSensor (void *pvParameters)
{
bool success;
unsigned char x;
char sendString [ADC_READING_STRING_LEN * MAX_NUM_ADCS + 1]; /* +1 for terminator */
CodedCommand codedSensorCommand;
portBASE_TYPE xStatus;
while (1)
{
xStatus = xQueueReceive (xSensorCommandQueue, &codedSensorCommand, portMAX_DELAY);
ASSERT_STRING (xStatus == pdPASS, "Failed to receive from sensor command queue.");
success = false; /* Assume failure */
/* Print out what command we're going to execute */
rob_lcd_goto_xy (0, 1);
rob_print_from_program_space (PSTR ("CMD: "));
if (codedSensorCommand.buffer[CODED_COMMAND_INDEX_POS] != CODED_COMMAND_INDEX_UNUSED)
{
rob_print_character ('#');
rob_print_unsigned_long (codedSensorCommand.buffer[CODED_COMMAND_INDEX_POS]);
rob_print_character (' ');
}
rob_print_character (codedSensorCommand.buffer[CODED_COMMAND_ID_POS]);
rob_lcd_goto_xy (0, 2);
/* Now do it */
switch (codedSensorCommand.buffer[CODED_COMMAND_ID_POS])
{
case '*': /* The only sensor command supported at the moment */
{
RobMemset (sendString, ' ', sizeof (sendString));
calibrateAdcs();
for (x = 0; x < MAX_NUM_ADCS; x++)
{
unsigned int milliVolts;
/* Write something like "FL:40 " (for ADC 2 of 6 (which is Front Left), object detected at 40 cm),
or "FL: " if nothing is there. */
memcpy (&sendString[ADC_READING_STRING_LEN * x], channelToString[x], SENSOR_STRING_LEN);
memcpy (&sendString[(ADC_READING_STRING_LEN * x) + SENSOR_STRING_LEN], NOTHING_THERE_STRING, NOTHING_THERE_STRING_LEN);
milliVolts = readAdc (x);
if (objectDetected (milliVolts))
{
itoa (voltageToDistance (milliVolts), &(sendString[(ADC_READING_STRING_LEN * x) + SENSOR_STRING_LEN + 1]), 10); /* +1 to leave the ':' there */
}
/* Overwrite the null terminator that itoa() puts in with a space */
sendString[RobStrlen (sendString)] = ' ';
}
sendString[sizeof (sendString) - 1] = 0; /* Add terminator */
sendSerialString (sendString, sizeof (sendString));
rob_print (sendString);
success = true;
}
break;
default:
{
ASSERT_ALWAYS_PARAM (codedSensorCommand.buffer[CODED_COMMAND_ID_POS]);
}
break;
}
if (!success)
{
sendSerialString (ERROR_STRING, sizeof (ERROR_STRING));
}
}
}
char isLatchClosed() {
bit_set(PORTB, 2); // powering hall sensor up
int value = abs(readAdc() - 128);
bit_clear(PORTB, 2); // power down hall sensor
return value <= 5;
}
