scoutos / scout_avr / src / cliffSensor.cpp @ ac53b84f
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1 | ac53b84f | Anson Wang | /*
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2 | * cliffSensor.cpp
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3 | *
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4 | * Created: 2012-9-24 17:38:59
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5 | * Author: Anson
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6 | */
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7 | |||
8 | #include "cliffSensor.h" |
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9 | #include <avr/io.h> |
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10 | #include <avr/interrupt.h> |
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11 | #define _PINLEVEL(x) (PIND & (1<<x)) |
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12 | unsigned char flag_cliff0=0,flag_cliff1=0,flag_cliff2=0; // are these global variables??? |
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13 | |||
14 | void cliffSensor_init(void) |
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15 | { |
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16 | sei(); //set the I-bit of SREG to 1, enabling global interrupters
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17 | EIMSK |= 0b00000011; //enable INT0,INT1,INT6 |
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18 | EICRA |= 0b00001111;
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19 | EICRB |= 0b00110000; //The rising edge of INTn triggers an interrupt request. |
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20 | } |
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21 | |||
22 | bool read_cliffSensor_front(void) |
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23 | { |
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24 | if(flag_cliff0 || _PINLEVEL(0)) //either a rising edge or a high logic level will be determined as cliff |
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25 | { |
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26 | flag_cliff0 = 0; // reset the flag |
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27 | EIMSK |= (1<<INT0); // re-enable the interrupt |
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28 | return true; |
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29 | } |
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30 | return false; |
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31 | } |
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32 | |||
33 | bool read_cliffSensor_left(void) |
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34 | { |
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35 | if(_PINLEVEL(1) | flag_cliff1) |
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36 | { |
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37 | flag_cliff1 = 0;
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38 | EIMSK |= (1<<INT1);
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39 | return true; |
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40 | } |
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41 | return false; |
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42 | } |
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43 | |||
44 | bool read_cliffSensor_right(void) |
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45 | { |
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46 | if(_PINLEVEL(2) | flag_cliff2) |
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47 | { |
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48 | flag_cliff2 = 0;
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49 | EIMSK |= (1<<INT6); // enable INT6 |
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50 | return true; |
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51 | } |
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52 | return false; |
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53 | } |
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54 | |||
55 | unsigned char read_cliffSensor_all(void) // return a 3-digit binary number(left, front, right) |
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56 | { |
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57 | unsigned char result=0; |
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58 | if(read_cliffSensor_left()){result |= 0b100;} |
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59 | if(read_cliffSensor_front()){result |= 0b010;} |
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60 | if(read_cliffSensor_right()){result |= 0b001;} |
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61 | return result;
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62 | } |
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63 | |||
64 | ISR(INT0_vect) |
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65 | { |
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66 | flag_cliff0 = 1;
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67 | EIMSK &= ~(1<<INT0); // disable INT0 |
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68 | } |
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69 | |||
70 | ISR(INT1_vect){ |
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71 | flag_cliff1 = 1;
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72 | EIMSK &= ~(1<<INT1); // disable INT1 |
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73 | } |
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74 | |||
75 | ISR(INT6_vect){ |
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76 | flag_cliff2 = 1;
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77 | EIMSK &= ~(1<<INT6); // disable INT6 |
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78 | } |