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87 lines
1.3 KiB
87 lines
1.3 KiB
//
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// Basic Sonar example
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//
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <util/delay.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include "lib/uart.h"
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#include "lib/sonar.h"
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#include "lib/stream.h"
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// All PCINT vectors must call sonar_handle_pci
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ISR(PCINT0_vect)
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{
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if (sonar_handle_pci()) return;
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// Here you can do your other stuff
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}
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// This way, they are linked to PCINT0
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// so we can avoid code duplication
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ISR(PCINT1_vect, ISR_ALIASOF(PCINT0_vect));
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ISR(PCINT2_vect, ISR_ALIASOF(PCINT0_vect));
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// Timer overflow - if sonar has a timeout -> 0xFFFF in result.
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ISR(TIMER1_OVF_vect)
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{
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if (sonar_handle_t1ovf()) return;
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// ...
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}
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void main()
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{
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// Init UART communication
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uart_init(9600);
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// Create and init Sonar instance
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sonar_t so;
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// Args: pointer to your sonar_t, and 2 pin aliases - Trig & Echo
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sonar_init(&so, A0, A1);
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// You can have more than one sonar connected, but only one can measure at a time
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// Allow interrupts
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sei();
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while(1) {
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// Measure
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sonar_start(&so);
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while(sonar_busy) {
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// Sonar is asynchronous
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// Here we just wait for it to complete
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}
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int16_t res = sonar_result;
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// Print
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if (res < 0) {
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put_str(uart, "NO OBSTACLES\r\n");
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} else {
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put_i16f(uart, res, 1); // one decimal place
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put_str(uart, " cm\r\n");
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}
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// a delay...
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_delay_ms(500);
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}
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}
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