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157 lines
2.8 KiB
157 lines
2.8 KiB
#include <avr/io.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 "pins.h"
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#include "sonar.h"
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// Currently measured sonar
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sonar_t* _sonar_active_so;
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// Flag that measurement is in progress
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volatile bool sonar_busy;
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// Result of last measurement, in millimeters
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volatile int16_t sonar_result;
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void _sonar_init_do(sonar_t* so, PORT_P port, uint8_t ntx, PORT_P pin, uint8_t nrx)
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{
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so->port = port;
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so->ntx = ntx;
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so->pin = pin;
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so->nrx = nrx;
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switch((const uint16_t) pin) {
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case (const uint16_t)&PINB:
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so->bank = 0;
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break;
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case (const uint16_t)&PINC:
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so->bank = 1;
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break;
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case (const uint16_t)&PIND:
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so->bank = 2;
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break;
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}
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}
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/**
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* Start sonar measurement
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* Interrupts must be enabled
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* TIMER 1 will be used for the async measurement
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* Timer 1 overflow and Pin Change interrupts must invoke Sonar handlers.
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*/
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bool sonar_start(sonar_t* so)
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{
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if (sonar_busy) return false;
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_sonar_active_so = so;
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sonar_busy = true;
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// make sure the timer is stopped (set clock to NONE)
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TCCR1B = 0;
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// Timer overflow interrupt enable
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// We'll stop measuring on overflow
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TIMSK1 |= (1 << TOIE1);
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// Clear the timer value
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TCNT1 = 0;
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// Set up pin change interrupt mask for the RX pin
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switch(so->bank) {
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case 0:
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PCMSK0 |= (1 << (so->nrx));
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break;
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case 1:
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PCMSK1 |= (1 << (so->nrx));
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break;
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case 2:
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PCMSK2 |= (1 << (so->nrx));
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break;
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}
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// send positive pulse
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*(so->port) |= (1 << so->ntx);
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_delay_us(_SNR_TRIG_TIME);
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*(so->port) &= ~(1 << so->ntx);
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// Wait for start of response
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while ( (*(so->pin) & (1 << so->nrx)) == 0 );
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// Set timer clock source: F_CPU / 8 (0.5 us resolution)
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TCCR1B = (0b010 << CS10);
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// Enable pin change interrupt
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PCICR |= (1 << (so->bank));
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return true;
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}
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/** Stop the timer */
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void _sonar_stop()
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{
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// stop timer
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TCCR1B = 0;
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// Disable RX pin interrupt mask
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switch(_sonar_active_so->bank) {
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case 0:
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PCMSK0 &= ~(1 << (_sonar_active_so->nrx));
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break;
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case 1:
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PCMSK1 &= ~(1 << (_sonar_active_so->nrx));
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break;
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case 2:
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PCMSK2 &= ~(1 << (_sonar_active_so->nrx));
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break;
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}
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// Disable timer1 overflow interrupt
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TIMSK1 &= ~(1 << TOIE1);
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sonar_busy = false;
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}
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/** Handle TIMER1_OVF (returns true if consumed) */
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inline bool sonar_handle_t1ovf()
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{
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if (!sonar_busy) return false; // nothing
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sonar_result = -1;
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_sonar_stop();
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return true;
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}
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/** Handle pin change interrupt (returns true if consumed) */
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inline bool sonar_handle_pci()
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{
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if (!sonar_busy) {
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return false; // nothing
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}
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if (*(_sonar_active_so->pin) & (1 << _sonar_active_so->nrx)) {
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// rx is high, not our pin change event
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return false;
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}
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uint64_t x = TCNT1;
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x /= _SNR_DIV_CONST;
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x *= 100000000L;
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x /= F_CPU;
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sonar_result = (int16_t) x;
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// no obstacle
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if (sonar_result > _SNR_MAX_DIST) sonar_result = -1;
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_sonar_stop();
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return true;
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}
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