From ed122a75c49ea77b0bcf8e33e1be03e4eecd36a7 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Wed, 31 May 2017 20:27:22 +0200
Subject: [PATCH] avr/nano: add third srf05
---
avr/nano/main.c | 115 +++++++--
avr/nano/main.hex | 600 ++++++++++++++++++++++++----------------------
2 files changed, 403 insertions(+), 312 deletions(-)
diff --git a/avr/nano/main.c b/avr/nano/main.c
index 51cd145..5ba3082 100644
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -14,16 +14,21 @@
* 0x02 Distance left LSB
* 0x03 Distance right MSB
* 0x04 Distance right LSB
- * 0x05 Distance forward MSB
- * 0x06 Distance forward LSB
+ * 0x05 Distance forward1 MSB
+ * 0x06 Distance forward1 LSB
* 0x07 Distance backward MSB
* 0x08 Distance backward LSB
- * 0x15 Distance forward MSB (read only)
- * 0x16 Distance forward LSB (read only)
- * 0x17 Distance backward MSB (read only)
- * 0x18 Distance backward LSB (read only)
* 0x09 Voltage MSB
* 0x0A Voltage LSB
+ * 0x0B Distance forward2 MSB
+ * 0x0C Distance forward2 LSB
+ *
+ * 0x15 Distance forward1 MSB (read only)
+ * 0x16 Distance forward1 LSB (read only)
+ * 0x17 Distance backward MSB (read only)
+ * 0x18 Distance backward LSB (read only)
+ * 0x19 Distance forward2 MSB (read only)
+ * 0x1A Distance forward2 LSB (read only)
*
* 0xff Bootloader
*/
@@ -37,11 +42,14 @@ static volatile uint8_t ireg=0;
static volatile uint8_t bootloader=0;
static volatile uint16_t dist_left=0;
static volatile uint16_t dist_right=0;
-static volatile uint16_t dist_forward=0;
+static volatile uint16_t dist_forward1=0;
+static volatile uint16_t dist_forward2=0;
static volatile uint16_t dist_backward=0;
-static volatile uint8_t start_dist_fwd=0;
+static volatile uint8_t start_dist_fwd1=0;
+static volatile uint8_t start_dist_fwd2=0;
static volatile uint8_t start_dist_bwd=0;
static volatile uint16_t voltage=0;
+static volatile uint8_t pind_pre=0;
ISR(TWI_vect)
{
@@ -58,8 +66,9 @@ ISR(TWI_vect)
case 0x00: // register select
ireg = TWDR;
- if (ireg == 0x05) start_dist_fwd=1;
+ if (ireg == 0x05) start_dist_fwd1=1;
if (ireg == 0x07) start_dist_bwd=1;
+ if (ireg == 0x09) start_dist_fwd2=1;
ireg--; // because we do ireg++ below
TWI_ACK;
@@ -92,12 +101,12 @@ ISR(TWI_vect)
TWDR = tmp16;
TWI_ACK;
break;
- case 0x05: // Distance forward MSB
- tmp16 = dist_forward;
+ case 0x05: // Distance forward1 MSB
+ tmp16 = dist_forward1;
TWDR = tmp16>>8;
TWI_ACK;
break;
- case 0x06: // Distance forward LSB
+ case 0x06: // Distance forward1 LSB
TWDR = tmp16;
TWI_ACK;
break;
@@ -110,12 +119,30 @@ ISR(TWI_vect)
TWDR = tmp16;
TWI_ACK;
break;
- case 0x15: // Distance forward MSB
- tmp16 = dist_forward;
+ case 0x09: // Voltage MSB
+ tmp16 = voltage;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x0A: // Voltage LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
+ case 0x0B: // Distance forward2 MSB
+ tmp16 = dist_forward2;
TWDR = tmp16>>8;
TWI_ACK;
break;
- case 0x16: // Distance forward LSB
+ case 0x0C: // Distance forward2 LSB
+ TWDR = tmp16;
+ TWI_ACK;
+ break;
+ case 0x15: // Distance forward1 MSB
+ tmp16 = dist_forward1;
+ TWDR = tmp16>>8;
+ TWI_ACK;
+ break;
+ case 0x16: // Distance forward1 LSB
TWDR = tmp16;
TWI_ACK;
break;
@@ -128,12 +155,12 @@ ISR(TWI_vect)
TWDR = tmp16;
TWI_ACK;
break;
- case 0x09: // Voltage MSB
- tmp16 = voltage;
+ case 0x19: // Distance forward2 MSB
+ tmp16 = dist_forward2;
TWDR = tmp16>>8;
TWI_ACK;
break;
- case 0x0A: // Voltage LSB
+ case 0x1A: // Distance forward2 LSB
TWDR = tmp16;
TWI_ACK;
break;
@@ -208,9 +235,9 @@ ISR(INT0_vect) {
t_start = t_now;
} else {
t_diff = t_now - t_start;
- dist_forward = t_diff*2.7586 + 0.5; // t [µs] / 580 = mm
+ dist_forward1 = t_diff*2.7586 + 0.5; // t [µs] / 580 = mm
// disable this interrupt
- EIMSK |= (1 << INT0);
+ EIMSK &= ~(1 << INT0);
}
}
@@ -227,11 +254,34 @@ ISR(INT1_vect) {
t_diff = t_now - t_start;
dist_backward = t_diff*2.7586 + 0.5; // t [µs] / 580 = mm
// disable this interrupt
- EIMSK |= (1 << INT1);
+ EIMSK &= ~(1 << INT1);
}
}
+ISR(PCINT2_vect) {
+ uint8_t pind_cur = PIND;
+
+ if ((pind_cur ^ pind_pre) & (1<<4)) { // PCINT20
+ static uint16_t t_start=0;
+ uint16_t t_now = TCNT1;
+ uint16_t t_diff;
+
+ if (bit_is_set(pind_cur, 4)) { // high level
+ // start timer
+ t_start = t_now;
+ } else {
+ t_diff = t_now - t_start;
+ dist_forward2 = t_diff*2.7586 + 0.5; // t [µs] / 580 = mm
+ // disable this interrupt
+ PCMSK2 &= ~(1 << PCINT20);
+ }
+ }
+
+ pind_pre = pind_cur;
+}
+
+
int main(void) {
bootloader = 0x00;
setup_uart(9600);
@@ -247,6 +297,7 @@ int main(void) {
// External Interrupts
EICRA = (1 << ISC10) | (1 << ISC00);
+ PCICR = (1 << PCIE2);
printf("\r\nStart\r\n");
@@ -274,9 +325,9 @@ int main(void) {
break;
}
- if (start_dist_fwd) {
- start_dist_fwd = 0;
- dist_forward = 0;
+ if (start_dist_fwd1) {
+ start_dist_fwd1 = 0;
+ dist_forward1 = 0;
DDRD |= (1 << 2);
PORTD |= (1 << 2);
@@ -284,6 +335,7 @@ int main(void) {
PORTD &= ~(1 << 2);
DDRD &= ~(1 << 2);
// wait for interrupt
+ EIFR &= (1 << INTF0); // clear old interrupt before enabling
EIMSK |= (1 << INT0);
}
if (start_dist_bwd) {
@@ -296,8 +348,23 @@ int main(void) {
PORTD &= ~(1 << 3);
DDRD &= ~(1 << 3);
// wait for interrupt
+ EIFR &= (1 << INTF1); // clear old interrupt before enabling
EIMSK |= (1 << INT1);
}
+ if (start_dist_fwd2) {
+ start_dist_fwd2 = 0;
+ dist_forward2 = 0;
+
+ // PD4 = PCINT20
+ DDRD |= (1 << 4);
+ PORTD |= (1 << 4);
+ _delay_us(10);
+ PORTD &= ~(1 << 4);
+ DDRD &= ~(1 << 4);
+ // wait for interrupt
+ pind_pre = PIND;
+ PCMSK2 |= (1 << PCINT20);
+ }
sleep_mode();
}
diff --git a/avr/nano/main.hex b/avr/nano/main.hex
index eb18ba2..364e7b3 100644
--- a/avr/nano/main.hex
+++ b/avr/nano/main.hex
@@ -1,289 +1,313 @@
-:100000000C9458000C943F010C948A010C947500D8
-:100010000C9475000C9475000C9475000C9475008C
-:100020000C9475000C9475000C9475000C9475007C
-:100030000C9475000C9475000C9475000C9475006C
-:100040000C9475000C9475000C94D5010C947500FB
-:100050000C9475000C9475000C9475000C9475004C
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--
2.39.5