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[ADD] made driver for ultrasonic sensor

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Sem van der Hoeven
2021-03-24 13:23:54 +01:00
parent fa20a79a22
commit 366e504bf0
6 changed files with 1536 additions and 1513 deletions
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76
Microcontrollers/ultrasonicSensor/main.c
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@@ -16,90 +16,25 @@
*/
#define F_CPU 20e6
#define F_CPU 10e6
#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include "lcd_control.h"
enum interrupt_status {INTERRUPT_FALLING, INTERRUPT_RISING};
static enum interrupt_status int_stat = INTERRUPT_RISING;
uint16_t timer_dist = 125; // time measured by timer;
void wait_us(unsigned int us)
{
for(int i = 0; i < us; i++)
{
_delay_us(1);
}
}
void wait_ms(unsigned int ms)
{
for(int i = 0; i < ms; i++)
{
_delay_ms(1);
}
}
void ultrasonic_send_pulse()
{
PORTG = 0x00; // 10 us low pulse
wait_us(10);
PORTG = 0x01;
}
#include "ultrasonic_sensor.h"
ISR(INT0_vect)
{
timer_dist = 2009;
// if the interrupt was generated on a rising edge (start sending echo)
if (int_stat == INTERRUPT_RISING)
{
// set interrupt pin 0 on PORTD to falling edge
EICRA = 0x02;
// reset the time in timer1
TCNT1 = 0x00;
// set interrupt status
int_stat = INTERRUPT_FALLING;
} else
// else if it was generated on a falling edge (end sending echo)
{
// set interrupt pin 0 on PORTD to rising edge
EICRA = 0x03;
// read timer1 into time_dist
timer_dist = TCNT1;
// set interrupt status
int_stat = INTERRUPT_RISING;
}
ultrasonic_handle_interrupt();
}
int main(void)
{
DDRG = 0xFF; // port g all output. pin 0 is trig, the rest is for debug
DDRD = 0x00; // port D pin 0 on input. 0 is echo and also interrupt
EICRA = 0x03; // interrupt PORTD on pin 0, rising edge
EIMSK |= 0x01; // enable interrupt on pin 0 (INT0)
TCCR1A = 0b00000000; // initialize timer1, prescaler=256
TCCR1B = 0b00001100; // CTC compare A, RUN
sei(); // turn on interrupt system
ultrasonic_init();
init_4bits_mode();
_delay_ms(10);
@@ -111,9 +46,8 @@ int main(void)
{
ultrasonic_send_pulse();
int distance = timer_dist * 340 / 2;
lcd_clear();
lcd_write_int(timer_dist);
lcd_write_int(ultrasonic_get_timer_dist());
wait_ms(100);