void irSensors(struct sensor s[6]){
/*#############################################################################################################################################################################
** Functia irSensors este folosita la citirea valorilor "raw" ale senzorilor.
**Argumentul functiei este un vector de tip structura de date sensor.
**Pasii pe care ii urmeaza:
** --declara pini care sunt conectati la senzori ca pini de output
** --seteaza valorile senzorilor pe HIGH -> se incarca condensatorul
** --asteapta 50us pentru incarcarea completa a condensatorului
** --declara pini care sunt conectati la senzori ca pini de input
** --reseteaza timer-ul deoarece poate iesi din limitele tipului de date int dupa un anumit timp
** --citirea valorii timer-ului
** --atribuirea valorii timer-ului variabilelor unde vom retine valorile senzorilor
** --intrarea in bucla de citire a senzorilor(se va termina cand toti pinii de la senzori au valoarea 0):
** ++variabila timer este folosita pentru a iesi din bucla daca este depasita valoarea constantei prag(datele mai mari decat valoarea pragului nu sunt relevante +
** citire mai rapida)
** ++verificarea valorilor pinilor conectati la senzori
** ++valoarea unui senzor devine egala cu valoarea timer-ului daca pinul respectiv are valoarea 1 (in final valoarea unui senzor va fi egala cu ultima valoare a
** timer-ului inainte ca pinul respectiv sa ia valoarea 0)
** ++daca variabila timer este mai mare decat valoarea pragului atunci este intrerupta executia buclei
**#############################################################################################################################################################################*/
int v[6];
int timer,i;
const int prag=1000;
IR_LED_SetOutput();
IR_LED_PutVal(1);
/*** Declararea senzorilor ca output. ***/
A1_SetOutput();
A3_SetOutput();
D11_SetOutput();
A0_SetOutput();
A2_SetOutput();
D5_SetOutput();
/*** Setarea senzoriilor pe HIGH. ***/
A1_PutVal(1);
A3_PutVal(1);
D11_PutVal(1);
A0_PutVal(1);
A2_PutVal(1);
D5_PutVal(1);
/*** Asteapta 50us pentru incarcarea completa a condensatorului. ***/
WAIT1_Waitus(50);
//Declararea senzorilor ca input. ***/
A1_SetInput();
A3_SetInput();
D11_SetInput();
A0_SetInput();
A2_SetInput();
D5_SetInput();
/*** Resetarea timer-ului. ***/
CountTimer_ResetCounter((LDD_TDeviceData *)NULL);
/*** Citirea vaorii timer-ului. ***/
timer=CountTimer_GetCounterValue((LDD_TDeviceData *)NULL);
s[0].value=timer;
s[1].value=timer;
s[2].value=timer;
s[3].value=timer;
s[4].value=timer;
s[5].value=timer;
/*** Bucla de citire -- executia buclei se va termina cand s-a terminat citirea tuturor senzorilor. ***/
while(v[0] || v[1] || v[2] || v[3] || v[4] || v[5]){
/*** Variabila timer este acum folosit ca un prag pentru a nu pierde prea mult timp cat senzorii sunt pe negru. ***/
timer=CountTimer_GetCounterValue((LDD_TDeviceData *)NULL);
/*** Variabilelor s1-s6 le este atribuita valoarea intrarilor senzoriilor(0 sau 1). ***/
v[0]=A1_GetVal();
v[1]=A3_GetVal();
v[2]=D11_GetVal();
v[3]=A0_GetVal();
v[4]=A2_GetVal();
v[5]=D5_GetVal();
/*** Daca intrarea unui senzor este 1 ii este atribuita variabilei s[i].value ultima valoare a timer-ului. ***/
for(i=0; i<6; i++){
if(v[i])
s[i].value=CountTimer_GetCounterValue((LDD_TDeviceData *)NULL);
}
if(timer>prag)
break;
}
}
void readSensors(uint16_t sensorsValue[NUMBER_OF_SENSORS]){
/*used for reading how long it take for the line to fall to 0
*and this way detecting the black or white level
*/
uint16_t counterReadValue;
uint16_t i;
/* start the infrared LED */
IR_LED_SetVal();
// WAIT1_Waitus(USEC_WAITING_INFRARED_LED_TO_START);
/* init the vector to reflecting by default
* it will be populated with values in case reflection is discovered
* - just a convention 0 means black and 1 means white */
for (i=0;i<NUMBER_OF_SENSORS;i++){
sensorsValue[i]=0;
}
/* set sensors as output and put them into 1 */
LS1_SetDir(TRUE);
LS1_SetVal();
A1_SetDir(TRUE);
A1_SetVal();
LS2_SetDir(TRUE);
LS2_SetVal();
LS3_SetDir(TRUE);
LS3_SetVal();
RS3_SetDir(TRUE);
RS3_SetVal();
RS2_SetDir(TRUE);
RS2_SetVal();
RS1_SetDir(TRUE);
RS1_SetVal();
/* wait until sensors capacitor is fully up */
WAIT1_Waitus(USEC_WAITING_FOR_CAPACITOR_TO_CHARGE);
/* set all sensors as inputs to read them */
LS1_SetDir(FALSE);
LS2_SetDir(FALSE);
LS3_SetDir(FALSE);
RS3_SetDir(FALSE);
RS2_SetDir(FALSE);
RS1_SetDir(FALSE);
/* read the time needed for the value of the sensor line to reach 0
* the longer it takes the less light it is reflected
*/
/* reset of the counter (using periods of 6.1 usec) used to count time
* sensor needs till it line is falling to 0
*/
CountTimer_ResetCounter((LDD_TDeviceData *)NULL);
/* effective reading of the value of the line + decision if it is black or white
* the sensor is seeing
*/
counterReadValue = CountTimer_GetCounterValue((LDD_TDeviceData *)NULL);
while (counterReadValue < BLACK_OR_WHITE_BOUNDRY){
/* do nothing wait till enough time has passed
* after this time has passed the sensors should be
* in correct shape */
counterReadValue = CountTimer_GetCounterValue((LDD_TDeviceData *)NULL);
}
/* basically if level did not reach 0 which means it is black
* and that is recorded in the sensors vector with a value of 1
* a bit tricky and maybe confusing here are they are opposite */
if(LS1_GetVal()==0){
sensorsValue[0] = 1;
}
if(LS2_GetVal()==0){
sensorsValue[1] = 1;
}
if(LS3_GetVal()==0){
sensorsValue[2] = 1;
}
if(RS3_GetVal()==0){
sensorsValue[3] = 1;
}
if(RS2_GetVal()==0){
sensorsValue[4] = 1;
}
if(RS1_GetVal()==0){
sensorsValue[5] = 1;
}
/* shut down the LED emitting infrared - need to see if this step is needed
* here decision taken not to shut down the sensor
* */
// IR_LED_ClrVal();
}
