Revision 18db4dfa scout_avr/src/cliffSensor.cpp

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scout_avr/src/cliffSensor.cpp
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#include "cliffSensor.h"
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#define _PINLEVEL(x) (PIND & (1<<x))
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unsigned char flag_cliff0=0,flag_cliff1=0,flag_cliff2=0; // are these global variables???
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void cliffSensor_init(void)
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{
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  sei();   //set the I-bit of SREG to 1, enabling global interrupters
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	EIMSK |= 0b00000011;  //enable INT0,INT1,INT6
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	EIMSK |= 0b01000011; //enable INT0,INT1,INT6
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	EICRA |= 0b00001111; 
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	EICRB |= 0b00110000;   //The rising edge of INTn triggers an interrupt request.
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	EICRB |= 0b00110000; //The rising edge of INTn triggers an interrupt request.
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  DDRD &= ~(0b00000011);
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  DDRE &= ~(0b01000000); // set PD0, PD1 and PE6 as input pins.
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}
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bool read_cliffSensor_front(void)
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{
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	if(flag_cliff0 || _PINLEVEL(0)) //either a rising edge or a high logic level will be determined as cliff
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	if(flag_cliff0 || (PIND & (1<<PD0))) //either a rising edge or a high logic level will be determined as cliff
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	{
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		flag_cliff0 = 0; // reset the flag
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		EIMSK |= (1<<INT0); // re-enable the interrupt
......
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bool read_cliffSensor_left(void)
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{
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	if(_PINLEVEL(1) || flag_cliff1)
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	if(flag_cliff1 || (PIND & (1<<PD1)))
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	{
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		flag_cliff1 = 0;
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		EIMSK |= (1<<INT1);
......
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bool read_cliffSensor_right(void)
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{
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	if(_PINLEVEL(2) || flag_cliff2)
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	if(flag_cliff2 || (PINE & (1<<PE6)))
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	{
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		flag_cliff2 = 0;
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		EIMSK |= (1<<INT6); // enable INT6

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