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Revision cc9ca04e

IDcc9ca04e4d58158606627a644331754a3fd64e91

Added by Thomas Mullins over 11 years ago

Fixed pins to work with 128rfa1 instead of 2560

View differences:

scout_avr/src/range.cpp
1 
#include "range.h"
2 

  		




  3
  1
  
    
extern "C"


  		




  4
  2
  
    
{


  		




  5
  3
  
    
#include <avr/io.h>


  		




  6
  4
  
    
#include <avr/interrupt.h>


  		




  7
  5
  
    
}


  		




  
  6
  
    
#include "range.h"


  		




  8
  7
  
    

  		




  9
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/* Ultrasonic Sensor:


  		




  10
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 * -if RX pin is left open, it will continuously take readings


  		




  ......




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 * -PW will be high for a maximum of 37.5ms if no target is detected


  		




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  12
  
    
 * 


  		




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 * 37.5ms * 8 MHz / 8 prescaler = 37500 max wait


  		




  
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 * 37.5ms * 16 MHz / 8 prescaler = problem


  		




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 */


  		




  16
  16
  
    

  		




  17
  
  
    
// so that we can test on a 328 or the stk600


  		




  18
  
  
    
#if defined(__AVR_ATmega128RFA1__) || defined(__AVR_ATmega2560__)


  		




  19
  
  
    
#  define read_INT0 (PIND & _BV(PD0))


  		




  20
  
  
    
#  define read_INT1 (PIND & _BV(PD1))


  		




  21
  
  
    
#elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__)


  		




  22
  
  
    
#  define read_INT0 (PIND & _BV(PD2))


  		




  23
  
  
    
#  define read_INT1 (PIND & _BV(PD3))


  		




  24
  
  
    
#else


  		




  25
  
  
    
#  error "Please define read_INTx for this device"


  		




  26
  
  
    
#endif


  		




  27
  
  
    

  		




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struct range_t {


  		




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  unsigned int start; // timer value on rising edge


  		




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  unsigned int value; // last measured range


  		




  ......




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static void on_edge(int which)


  		




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{


  		




  35
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  unsigned char int_high;


  		




  36
  
  
    
  // TODO centralize timer 5


  		




  37
  
  
    
  // TODO ensure this is in microseconds even for 16MHz


  		




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  unsigned int time = TCNT5;


  		




  39
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  40
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  if (which)


  		




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  {


  		




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    int_high = read_INT1;


  		




  
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    int_high = PIN_SONAR_PWM & _BV(P_SONAR_PWM1);


  		




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  }


  		




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  else


  		




  45
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  {


  		




  46
  
  
    
    int_high = read_INT0;


  		




  
  33
  
    
    int_high = PIN_SONAR_PWM & _BV(P_SONAR_PWM0);


  		




  47
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  }


  		




  48
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  49
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  if (int_high)


  		




  ......




  57
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  }


  		




  58
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}


  		




  59
  46
  
    

  		




  60
  
  
    
ISR(INT0_vect)


  		




  
  47
  
    
ISR(INT3_vect)


  		




  61
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{


  		




  62
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  on_edge(0);


  		




  63
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}


  		




  64
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  65
  
  
    
ISR(INT1_vect)


  		




  
  52
  
    
ISR(INT2_vect)


  		




  66
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{


  		




  67
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  on_edge(1);


  		




  68
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}


  		




  ......




  70
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void range_init()


  		




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{


  		




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  // ISCx = 1, edge triggered


  		




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  EICRA |= _BV(ISC10) | _BV(ISC00);


  		




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  // enable INT0 and INT1


  		




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  EIMSK |= _BV(INT1) | _BV(INT0);


  		




  
  60
  
    
  EICRA |= _BV(ISC20) | _BV(ISC30);


  		




  
  61
  
    
  // enable INT2 and INT3


  		




  
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  EIMSK |= _BV(INT2) | _BV(INT3);


  		




  76
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  77
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  // CS1 = 2, 1/8 prescaler


  		




  78
  65
  
    
  // if this is changed, remember to change recv_edge in bom.cpp!


  		












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