From 956e25bc6ac1394fe6319a491c699fbd0db8daf6 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Wed, 31 Mar 2021 09:47:58 +0200
Subject: [PATCH] [ADD] files to include

---
 Microcontrollers/Eindopdracht/lcd_control.c   | 132 ++++++++++++++++++
 Microcontrollers/Eindopdracht/lcd_control.h   |  30 ++++
 .../Eindopdracht/ultrasonic_sensor.c          |  91 ++++++++++++
 .../Eindopdracht/ultrasonic_sensor.h          |  12 ++
 4 files changed, 265 insertions(+)
 create mode 100644 Microcontrollers/Eindopdracht/lcd_control.c
 create mode 100644 Microcontrollers/Eindopdracht/lcd_control.h
 create mode 100644 Microcontrollers/Eindopdracht/ultrasonic_sensor.c
 create mode 100644 Microcontrollers/Eindopdracht/ultrasonic_sensor.h

diff --git a/Microcontrollers/Eindopdracht/lcd_control.c b/Microcontrollers/Eindopdracht/lcd_control.c
new file mode 100644
index 0000000..64bacb3
--- /dev/null
+++ b/Microcontrollers/Eindopdracht/lcd_control.c
@@ -0,0 +1,132 @@
+/*
+ * lcd_controlc.c
+ *
+ * Created: 24-2-2021 11:55:12
+ *  Author: Sem
+ */ 
+#define F_CPU 10e6
+#include <avr/io.h>
+#include <util/delay.h>
+#include <avr/interrupt.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include "lcd_control.h"
+
+void _delay_ms(double __ms);
+
+void lcd_clear() {
+	lcd_write_command (0x01);						//Leeg display
+	_delay_ms(2);
+	lcd_write_command (0x80);						//Cursor terug naar start
+}
+
+void lcd_strobe_lcd_e(void) {
+	
+	sbi_porta(LCD_E);	// E high
+	_delay_ms(1);
+	cbi_porta(LCD_E);  	// E low
+	_delay_ms(1);
+	
+}
+
+void sbi_portc(int index){
+	PORTC |= (1<<index);
+}
+
+
+void cbi_portc(int index){
+	PORTC &= ~(1<<index);
+}
+
+void sbi_porta(int index){
+	PORTA |= (1<<index);
+}
+
+
+void cbi_porta(int index){
+	PORTA &= ~(1<<index);
+}
+
+void init_4bits_mode(void) {
+	
+	// PORTC output mode and all low (also E and RS pin)
+	
+	// Init I/O
+	DDRC = 0xFF;			// PORTD(7) output, PORTD(6:0) input
+	PORTC = 0xFF;
+	
+	DDRA = 0xFF;
+	PORTC = 0x00;
+	PORTA = 0x00;
+	
+	PORTC = 0x20;	// function for 4-bit 1 row
+	lcd_strobe_lcd_e();
+
+	PORTC = 0x20;   // function high nibble 4-bit 2 row
+	lcd_strobe_lcd_e();
+	PORTC = 0x80;	// function low nibble 4-bit 2 row
+	lcd_strobe_lcd_e();
+
+	PORTC = 0x00;   // function high nibble turn on visible blinking-block cursor
+	lcd_strobe_lcd_e();
+	PORTC = 0xF0;   // function low nibble turn on visible blinking-block cursor
+	lcd_strobe_lcd_e();
+
+	PORTC = 0x00;   // Entry mode set high nibble
+	lcd_strobe_lcd_e();
+	PORTC = 0x60;	// Entry mode set low nibble
+	lcd_strobe_lcd_e();
+	
+	// return home
+	lcd_write_command(0x02);
+	lcd_strobe_lcd_e();
+}
+
+void lcd_write_character(unsigned char byte){
+	
+	
+	//upper nibble
+	PORTC = byte;
+	sbi_porta(LCD_RS);
+	lcd_strobe_lcd_e();
+	
+	//lower nibble
+	PORTC = (byte<<4);
+	sbi_porta(LCD_RS);
+	lcd_strobe_lcd_e();
+	
+}
+
+void lcd_write_command(unsigned char byte){
+	
+	//upper nibble
+	PORTC = byte;
+	cbi_porta(LCD_RS);
+	lcd_strobe_lcd_e();
+	
+	//lower nibble
+	PORTC = (byte<<4);
+	cbi_porta(LCD_RS);
+	lcd_strobe_lcd_e();
+
+}
+
+void lcd_write_string(const char *str) {
+	
+	for(;*str; str++){
+		lcd_write_character(*str);
+	}
+}
+
+void lcd_move_right(void){
+	
+	lcd_write_command(0x1E);
+}
+
+void lcd_write_int(int number)
+{
+	int length = snprintf(NULL, 0, "%d", number);
+	char str[length + 1];
+	snprintf(str, length + 1, "%d", number);
+	lcd_write_string(str);
+}
diff --git a/Microcontrollers/Eindopdracht/lcd_control.h b/Microcontrollers/Eindopdracht/lcd_control.h
new file mode 100644
index 0000000..15a8b3a
--- /dev/null
+++ b/Microcontrollers/Eindopdracht/lcd_control.h
@@ -0,0 +1,30 @@
+/*
+ * lcd_control.h
+ *
+ * Created: 24-2-2021 11:56:16
+ *  Author: Sem
+ */ 
+
+
+#ifndef LCD_CONTROL_H_
+#define LCD_CONTROL_H_
+
+#define LCD_E 	6
+#define LCD_RS	4
+
+void _delay_ms(double __ms);
+void lcd_strobe_lcd_e(void);
+void sbi_portc(int index);
+void cbi_portc(int index);
+void sbi_porta(int index);
+void cbi_porta(int index);
+void init_4bits_mode(void);
+void lcd_write_string(const char *str);
+void lcd_write_character(unsigned char byte);
+void lcd_write_command(unsigned char byte);
+void lcd_clear();
+void lcd_write_int(int number);
+
+
+
+#endif /* LCD_CONTROL_H_ */
\ No newline at end of file
diff --git a/Microcontrollers/Eindopdracht/ultrasonic_sensor.c b/Microcontrollers/Eindopdracht/ultrasonic_sensor.c
new file mode 100644
index 0000000..430a118
--- /dev/null
+++ b/Microcontrollers/Eindopdracht/ultrasonic_sensor.c
@@ -0,0 +1,91 @@
+/*
+ * ultrasonic_sensor.c
+ *
+ * Created: 24-3-2021 13:04:52
+ *  Author: Sem
+ */ 
+
+#define F_CPU 10e6
+
+#include <avr/io.h>
+#include <util/delay.h>
+#include <avr/interrupt.h>
+
+#include "lcd_control.h"
+
+static uint16_t timer_dist = 0;
+
+enum interrupt_status {INTERRUPT_FALLING, INTERRUPT_RISING};
+
+static enum interrupt_status int_stat = INTERRUPT_RISING;
+
+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_init()
+{
+	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
+}
+
+void ultrasonic_send_pulse()
+{
+	PORTG = 0x00; // 10 us low pulse
+	wait_us(10);
+	PORTG = 0x01;
+}
+
+void ultrasonic_handle_interrupt()
+{
+	// 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;
+	}
+}
+
+uint16_t ultrasonic_get_timer_dist()
+{
+	return timer_dist;
+}
+
diff --git a/Microcontrollers/Eindopdracht/ultrasonic_sensor.h b/Microcontrollers/Eindopdracht/ultrasonic_sensor.h
new file mode 100644
index 0000000..0981c46
--- /dev/null
+++ b/Microcontrollers/Eindopdracht/ultrasonic_sensor.h
@@ -0,0 +1,12 @@
+/*
+ * ultrasonic_sensor.h
+ *
+ * Created: 24-3-2021 13:14:50
+ *  Author: Sem
+ */ 
+
+
+void ultrasonic_init();
+void ultrasonic_send_pulse();
+uint16_t ultrasonic_get_timer_dist();
+void ultrasonic_handle_interrupt();