avr/nano: add third srf05

[ros_wild_thumper.git] / avr / nano / main.c

diff --git a/avr/nano/main.c b/avr/nano/main.c
index 0ca6e83313a173fc1d20a0526da6a28674b56588..5ba30821e26227f6e936fede523b2d80b3dd4964 100644 (file)
--- a/avr/nano/main.c
+++ b/avr/nano/main.c
@@ -14,12 +14,21 @@
  * 0x02 Distance left LSB
  * 0x03 Distance right MSB
  * 0x04 Distance right LSB
  * 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
  * 0x09 Voltage MSB
  * 0x0A Voltage LSB
  * 0x07 Distance backward MSB
  * 0x08 Distance backward LSB
  * 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
  */
  *
  * 0xff Bootloader
  */


@@ -33,11 +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 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 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 start_dist_bwd=0;
 static volatile uint16_t voltage=0;

+static volatile uint8_t pind_pre=0;

 
 ISR(TWI_vect)
 {
 
 ISR(TWI_vect)
 {


@@ -54,8 +66,9 @@ ISR(TWI_vect)
                                case 0x00: // register select
                                        ireg = TWDR;
 
                                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 == 0x07) start_dist_bwd=1;

+                                       if (ireg == 0x09) start_dist_fwd2=1;

 
                                        ireg--; // because we do ireg++ below
                                        TWI_ACK;
 
                                        ireg--; // because we do ireg++ below
                                        TWI_ACK;


@@ -88,12 +101,12 @@ ISR(TWI_vect)
                                        TWDR = tmp16;
                                        TWI_ACK;
                                        break;
                                        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;
                                        TWDR = tmp16>>8;
                                        TWI_ACK;
                                        break;

-                               case 0x06: // Distance forward LSB
+                               case 0x06: // Distance forward1 LSB

                                        TWDR = tmp16;
                                        TWI_ACK;
                                        break;
                                        TWDR = tmp16;
                                        TWI_ACK;
                                        break;


@@ -115,6 +128,42 @@ ISR(TWI_vect)
                                        TWDR = tmp16;
                                        TWI_ACK;
                                        break;
                                        TWDR = tmp16;
                                        TWI_ACK;
                                        break;

+                               case 0x0B: // Distance forward2 MSB
+                                       tmp16 = dist_forward2;
+                                       TWDR = tmp16>>8;
+                                       TWI_ACK;
+                                       break;
+                               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;
+                               case 0x17: // Distance backward MSB
+                                       tmp16 = dist_backward;
+                                       TWDR = tmp16>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x18: // Distance backward LSB
+                                       TWDR = tmp16;
+                                       TWI_ACK;
+                                       break;
+                               case 0x19: // Distance forward2 MSB
+                                       tmp16 = dist_forward2;
+                                       TWDR = tmp16>>8;
+                                       TWI_ACK;
+                                       break;
+                               case 0x1A: // Distance forward2 LSB
+                                       TWDR = tmp16;
+                                       TWI_ACK;
+                                       break;

                                default:
                                        TWDR = 0;
                                        TWI_NAK;
                                default:
                                        TWDR = 0;
                                        TWI_NAK;


@@ -186,9 +235,9 @@ ISR(INT0_vect) {
                t_start = t_now;
        } else {
                t_diff = t_now - t_start;
                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
                // disable this interrupt

-               EIMSK |= (1 << INT0);
+               EIMSK &= ~(1 << INT0);

        }
 }
 
        }
 }
 


@@ -205,11 +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
                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);
 int main(void) {
        bootloader = 0x00;
        setup_uart(9600);


@@ -225,6 +297,7 @@ int main(void) {
 
        // External Interrupts
        EICRA = (1 << ISC10) | (1 << ISC00);
 
        // External Interrupts
        EICRA = (1 << ISC10) | (1 << ISC00);

+       PCICR = (1 << PCIE2);

 
        printf("\r\nStart\r\n");
 
 
        printf("\r\nStart\r\n");
 


@@ -252,9 +325,9 @@ int main(void) {
                                break;
                }
 
                                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);
 
                        DDRD |= (1 << 2);
                        PORTD |= (1 << 2);


@@ -262,6 +335,7 @@ int main(void) {
                        PORTD &= ~(1 << 2);
                        DDRD &= ~(1 << 2);
                        // wait for interrupt
                        PORTD &= ~(1 << 2);
                        DDRD &= ~(1 << 2);
                        // wait for interrupt

+                       EIFR &= (1 << INTF0); // clear old interrupt before enabling

                        EIMSK |= (1 << INT0);
                }
                if (start_dist_bwd) {
                        EIMSK |= (1 << INT0);
                }
                if (start_dist_bwd) {


@@ -274,8 +348,23 @@ int main(void) {
                        PORTD &= ~(1 << 3);
                        DDRD &= ~(1 << 3);
                        // wait for interrupt
                        PORTD &= ~(1 << 3);
                        DDRD &= ~(1 << 3);
                        // wait for interrupt

+                       EIFR &= (1 << INTF1); // clear old interrupt before enabling

                        EIMSK |= (1 << INT1);
                }
                        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();
        }
 
                sleep_mode();
        }