root / scout_avr / src / cliffSensor.cpp @ 4bdd00ba
History | View | Annotate | Download (1.64 KB)
1 | ac53b84f | Anson Wang | /*
|
---|---|---|---|
2 | * cliffSensor.cpp
|
||
3 | *
|
||
4 | * Created: 2012-9-24 17:38:59
|
||
5 | * Author: Anson
|
||
6 | */
|
||
7 | |||
8 | #include "cliffSensor.h" |
||
9 | #include <avr/io.h> |
||
10 | #include <avr/interrupt.h> |
||
11 | unsigned char flag_cliff0=0,flag_cliff1=0,flag_cliff2=0; // are these global variables??? |
||
12 | |||
13 | void cliffSensor_init(void) |
||
14 | { |
||
15 | sei(); //set the I-bit of SREG to 1, enabling global interrupters
|
||
16 | 18db4dfa | AnsonLinux | EIMSK |= 0b01000011; //enable INT0,INT1,INT6 |
17 | ac53b84f | Anson Wang | EICRA |= 0b00001111;
|
18 | 18db4dfa | AnsonLinux | EICRB |= 0b00110000; //The rising edge of INTn triggers an interrupt request. |
19 | DDRD &= ~(0b00000011);
|
||
20 | DDRE &= ~(0b01000000); // set PD0, PD1 and PE6 as input pins. |
||
21 | ac53b84f | Anson Wang | } |
22 | |||
23 | bool read_cliffSensor_front(void) |
||
24 | { |
||
25 | 18db4dfa | AnsonLinux | if(flag_cliff0 || (PIND & (1<<PD0))) //either a rising edge or a high logic level will be determined as cliff |
26 | ac53b84f | Anson Wang | { |
27 | flag_cliff0 = 0; // reset the flag |
||
28 | EIMSK |= (1<<INT0); // re-enable the interrupt |
||
29 | return true; |
||
30 | } |
||
31 | return false; |
||
32 | } |
||
33 | |||
34 | bool read_cliffSensor_left(void) |
||
35 | { |
||
36 | 18db4dfa | AnsonLinux | if(flag_cliff1 || (PIND & (1<<PD1))) |
37 | ac53b84f | Anson Wang | { |
38 | flag_cliff1 = 0;
|
||
39 | EIMSK |= (1<<INT1);
|
||
40 | return true; |
||
41 | } |
||
42 | return false; |
||
43 | } |
||
44 | |||
45 | bool read_cliffSensor_right(void) |
||
46 | { |
||
47 | 18db4dfa | AnsonLinux | if(flag_cliff2 || (PINE & (1<<PE6))) |
48 | ac53b84f | Anson Wang | { |
49 | flag_cliff2 = 0;
|
||
50 | EIMSK |= (1<<INT6); // enable INT6 |
||
51 | return true; |
||
52 | } |
||
53 | return false; |
||
54 | } |
||
55 | |||
56 | unsigned char read_cliffSensor_all(void) // return a 3-digit binary number(left, front, right) |
||
57 | { |
||
58 | unsigned char result=0; |
||
59 | if(read_cliffSensor_left()){result |= 0b100;} |
||
60 | if(read_cliffSensor_front()){result |= 0b010;} |
||
61 | if(read_cliffSensor_right()){result |= 0b001;} |
||
62 | return result;
|
||
63 | } |
||
64 | |||
65 | ISR(INT0_vect) |
||
66 | { |
||
67 | flag_cliff0 = 1;
|
||
68 | EIMSK &= ~(1<<INT0); // disable INT0 |
||
69 | } |
||
70 | |||
71 | ISR(INT1_vect){ |
||
72 | flag_cliff1 = 1;
|
||
73 | EIMSK &= ~(1<<INT1); // disable INT1 |
||
74 | } |
||
75 | |||
76 | ISR(INT6_vect){ |
||
77 | flag_cliff2 = 1;
|
||
78 | EIMSK &= ~(1<<INT6); // disable INT6 |
||
79 | } |