From ed122a75c49ea77b0bcf8e33e1be03e4eecd36a7 Mon Sep 17 00:00:00 2001 From: Erik Andresen 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 -:100060000C9477000C947500C600E500CB00E50009 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