Revision fd73d758
| ID | fd73d7589ef076f3d6b164031d18f5827a18a8d4 |
Changed range sensor to read on-demand
| scout_avr/src/range.cpp | ||
|---|---|---|
| 17 | 17 |
struct range_t {
|
| 18 | 18 |
unsigned int start; // timer value on rising edge |
| 19 | 19 |
unsigned int value; // last measured range |
| 20 |
} range[2]; |
|
| 20 |
char done; |
|
| 21 |
} volatile range[2]; |
|
| 21 | 22 |
|
| 22 | 23 |
static void on_edge(int which) |
| 23 | 24 |
{
|
| ... | ... | |
| 39 | 40 |
} |
| 40 | 41 |
else |
| 41 | 42 |
{
|
| 43 |
PORT_SONAR_TX &= ~ _BV(P_SONAR_TX); |
|
| 42 | 44 |
// if timer overflowed since start, this arithmetic should still work out |
| 43 | 45 |
range[which].value = time - range[which].start; |
| 46 |
range[which].done = 1; |
|
| 44 | 47 |
} |
| 45 | 48 |
} |
| 46 | 49 |
|
| ... | ... | |
| 64 | 67 |
// CS1 = 2, 1/8 prescaler |
| 65 | 68 |
// if this is changed, remember to change recv_edge in bom.cpp! |
| 66 | 69 |
TCCR5B = _BV(CS51); |
| 67 |
|
|
| 68 |
range[0].value = RANGE_ERR; |
|
| 69 |
range[1].value = RANGE_ERR; |
|
| 70 |
|
|
| 71 |
// set tx as output |
|
| 72 |
DDRG |= _BV(DDG1); |
|
| 73 |
PORT_SONAR_TX &= ~ _BV(P_SONAR_TX); |
|
| 70 | 74 |
} |
| 71 | 75 |
|
| 72 |
unsigned int range_get(int which)
|
|
| 76 |
void range_measure(unsigned int *values)
|
|
| 73 | 77 |
{
|
| 74 |
unsigned int ret; |
|
| 75 |
if (0 <= which && which <= 1) |
|
| 78 |
int i; |
|
| 79 |
|
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| 80 |
for (i = 0; i < 2; i++) |
|
| 81 |
{
|
|
| 82 |
range[i].value = RANGE_ERR; |
|
| 83 |
range[i].done = 0; |
|
| 84 |
} |
|
| 85 |
|
|
| 86 |
// TODO ensure that one interrupt won't be delayed because of the other |
|
| 87 |
PORT_SONAR_TX |= _BV(P_SONAR_TX); |
|
| 88 |
|
|
| 89 |
for (i = 0; i < 2; i++) |
|
| 76 | 90 |
{
|
| 77 |
cli(); |
|
| 78 |
ret = range[which].value; |
|
| 79 |
sei(); |
|
| 80 |
return ret; |
|
| 91 |
while (!range[i].done) {}
|
|
| 92 |
values[i] = range[i].value; |
|
| 81 | 93 |
} |
| 82 |
else return RANGE_ERR; |
|
| 83 | 94 |
} |
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