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Revision 18db4dfa

ID18db4dface609e35bae5973a73ccccaaf36af292
Parent 679f4e26
Child d2acabf3

Added by AnsonLinux about 11 years ago

cliffSensor edited

View differences:

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


  		












  

    
      scout_avr/src/cliffSensor.h
    
  





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bool read_cliffSensor_left(void);


  		




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bool read_cliffSensor_right(void);


  		




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/* The returned result is in the form of left_front_right; For example, if both left


  		




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   and front sensors detect a cliff, the returned value is 0b110 */


  		




  
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/* The returned result is in the form of left_front_right; 


  		




  
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 * For example, if both left and front sensors detect a cliff, 


  		




  
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 * the returned value is 0b110 */


  		




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unsigned char read_cliffSensor_all(void);


  		




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#endif


  		












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