Revision ac53b84f
ID | ac53b84fa0d5b38097d007f4bc52f6fe919c05d6 |
Cliff Sensor
Signed-off-by: Anson Wang <gzwsc2007@gmail.com>
scout_avr/src/cliffSensor.cpp | ||
---|---|---|
1 |
/* |
|
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 |
#define _PINLEVEL(x) (PIND & (1<<x)) |
|
12 |
unsigned char flag_cliff0=0,flag_cliff1=0,flag_cliff2=0; // are these global variables??? |
|
13 |
|
|
14 |
void cliffSensor_init(void) |
|
15 |
{ |
|
16 |
sei(); //set the I-bit of SREG to 1, enabling global interrupters |
|
17 |
EIMSK |= 0b00000011; //enable INT0,INT1,INT6 |
|
18 |
EICRA |= 0b00001111; |
|
19 |
EICRB |= 0b00110000; //The rising edge of INTn triggers an interrupt request. |
|
20 |
} |
|
21 |
|
|
22 |
bool read_cliffSensor_front(void) |
|
23 |
{ |
|
24 |
if(flag_cliff0 || _PINLEVEL(0)) //either a rising edge or a high logic level will be determined as cliff |
|
25 |
{ |
|
26 |
flag_cliff0 = 0; // reset the flag |
|
27 |
EIMSK |= (1<<INT0); // re-enable the interrupt |
|
28 |
return true; |
|
29 |
} |
|
30 |
return false; |
|
31 |
} |
|
32 |
|
|
33 |
bool read_cliffSensor_left(void) |
|
34 |
{ |
|
35 |
if(_PINLEVEL(1) | flag_cliff1) |
|
36 |
{ |
|
37 |
flag_cliff1 = 0; |
|
38 |
EIMSK |= (1<<INT1); |
|
39 |
return true; |
|
40 |
} |
|
41 |
return false; |
|
42 |
} |
|
43 |
|
|
44 |
bool read_cliffSensor_right(void) |
|
45 |
{ |
|
46 |
if(_PINLEVEL(2) | flag_cliff2) |
|
47 |
{ |
|
48 |
flag_cliff2 = 0; |
|
49 |
EIMSK |= (1<<INT6); // enable INT6 |
|
50 |
return true; |
|
51 |
} |
|
52 |
return false; |
|
53 |
} |
|
54 |
|
|
55 |
unsigned char read_cliffSensor_all(void) // return a 3-digit binary number(left, front, right) |
|
56 |
{ |
|
57 |
unsigned char result=0; |
|
58 |
if(read_cliffSensor_left()){result |= 0b100;} |
|
59 |
if(read_cliffSensor_front()){result |= 0b010;} |
|
60 |
if(read_cliffSensor_right()){result |= 0b001;} |
|
61 |
return result; |
|
62 |
} |
|
63 |
|
|
64 |
ISR(INT0_vect) |
|
65 |
{ |
|
66 |
flag_cliff0 = 1; |
|
67 |
EIMSK &= ~(1<<INT0); // disable INT0 |
|
68 |
} |
|
69 |
|
|
70 |
ISR(INT1_vect){ |
|
71 |
flag_cliff1 = 1; |
|
72 |
EIMSK &= ~(1<<INT1); // disable INT1 |
|
73 |
} |
|
74 |
|
|
75 |
ISR(INT6_vect){ |
|
76 |
flag_cliff2 = 1; |
|
77 |
EIMSK &= ~(1<<INT6); // disable INT6 |
|
78 |
} |
scout_avr/src/cliffSensor.h | ||
---|---|---|
1 |
#ifndef _CLIFFSENSOR_H_ |
|
2 |
#define _CLIFFSENSOR_H_ |
|
3 |
|
|
4 |
#include <avr/io.h> |
|
5 |
#include <avr/interrupt.h> |
|
6 |
|
|
7 |
void cliffSensor_init(void); |
|
8 |
bool read_cliffSensor_front(void); |
|
9 |
bool read_cliffSensor_left(void); |
|
10 |
bool read_cliffSensor_right(void); |
|
11 |
|
|
12 |
/* The returned result is in the form of left_front_right; For example, if both left |
|
13 |
and front sensors detect a cliff, the returned value is 0b110 */ |
|
14 |
unsigned char read_cliffSensor_all(void); |
|
15 |
|
|
16 |
#endif |
Also available in: Unified diff