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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,115 @@ | ||
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <projectDescription> | ||
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7 changes: 7 additions & 0 deletions
7
HC-SRO4 - Ultrasonic/.settings/de.innot.avreclipse.core.prefs
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| avrtarget/ClockFrequency=1000000 | ||
| avrtarget/ExtRAMSize=0 | ||
| avrtarget/ExtendedRAM=false | ||
| avrtarget/MCUType=atmega32 | ||
| avrtarget/UseEEPROM=false | ||
| avrtarget/UseExtendedRAMforHeap=true | ||
| eclipse.preferences.version=1 |
2 changes: 2 additions & 0 deletions
2
HC-SRO4 - Ultrasonic/.settings/org.eclipse.core.resources.prefs
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| eclipse.preferences.version=1 | ||
| encoding/<project>=UTF-8 |
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| /****************************************************************************** | ||
| * | ||
| * Module: HC-SRO4 Ultrasonic | ||
| * File Name: HC-SRO4_ultrasonic.c | ||
| * Description: Source file for the HC-SR04 Ultrasonic driver | ||
| * Author: Ibrahim Mohamed | ||
| * | ||
| *******************************************************************************/ | ||
|
|
||
| #include <util/delay.h> | ||
| #include "gpio.h" | ||
| #include "common_macros.h" | ||
| #include "HC-SRO4_ultrasonic.h" | ||
| #include "icu.h" | ||
|
|
||
|
|
||
| /******************************************************************************* | ||
| * Global Functions * | ||
| *******************************************************************************/ | ||
|
|
||
|
|
||
| static uint16 g_echo = 0; | ||
| static uint8 g_countOfEdges = 0; | ||
|
|
||
| /******************************************************************************* | ||
| * Functions Definition * | ||
| *******************************************************************************/ | ||
|
|
||
|
|
||
| /* | ||
| * Description : | ||
| * Initialize the ICU driver. | ||
| * Setup the ICU call back function. | ||
| * Setup the direction for the trigger pin as output pin through the GPIO driver. | ||
| */ | ||
| void Ultrasonic_init(void){ | ||
|
|
||
| /* | ||
| * set up the configurations to the ICU unit to work with: | ||
| * - the processor frequency over 8 | ||
| * - capture the rising edge of the pluse | ||
| * | ||
| */ | ||
| Icu_ConfigType ICU_configuration = { | ||
| F_CPU_8, | ||
| RISING | ||
| }; | ||
|
|
||
|
|
||
| /* initialize the ICU with configurations */ | ||
| Icu_init(&ICU_configuration); | ||
|
|
||
| /* set the callback function which will calculate the time */ | ||
| Icu_setCallBack(Ultrasonic_edgeProcessing); | ||
|
|
||
| /* set up the trigger port to be output */ | ||
| GPIO_setupPinDirection(ULTRASONIC_TRIGGER_PORT, ULTRASONIC_TRIGGER_PIN, PIN_OUTPUT); | ||
| } | ||
|
|
||
| /* | ||
| * Description : | ||
| * Send the Trigger pulse to the ultrasonic. | ||
| */ | ||
| void Ultrasonic_Trigger(void){ | ||
|
|
||
| GPIO_writePin(ULTRASONIC_TRIGGER_PORT, ULTRASONIC_TRIGGER_PIN, LOGIC_HIGH); | ||
| _delay_ms(1); | ||
| GPIO_writePin(ULTRASONIC_TRIGGER_PORT, ULTRASONIC_TRIGGER_PIN, LOGIC_LOW); | ||
|
|
||
| } | ||
|
|
||
| /* | ||
| * Description : | ||
| * Send the trigger pulse by using Ultrasonic_Trigger function. | ||
| * Start the measurements by the ICU from this moment. | ||
| */ | ||
| uint16 Ultrasonic_readDistance(void){ | ||
|
|
||
| /* send trigger signal */ | ||
| Ultrasonic_Trigger(); | ||
|
|
||
| /* polling */ | ||
| while(g_countOfEdges != 2); | ||
|
|
||
| g_countOfEdges = 0; | ||
| return g_echo/58.8; /* return the distance */ | ||
|
|
||
| } | ||
|
|
||
| /* | ||
| * Description : | ||
| * This is the call back function called by the ICU driver. | ||
| * This is used to calculate the high time (pulse time) generated by the ultrasonic sensor. | ||
| */ | ||
| void Ultrasonic_edgeProcessing(void){ | ||
|
|
||
| g_countOfEdges++; | ||
|
|
||
| if(g_countOfEdges == 1){ | ||
|
|
||
| /* Clear the timer counter register */ | ||
| Icu_clearTimerValue(); | ||
| /* change the edge detection to be falling edge */ | ||
| Icu_setEdgeDetectionType(FALLING); | ||
| } | ||
|
|
||
| else if(g_countOfEdges == 2){ | ||
|
|
||
| /* get the high time */ | ||
| g_echo = Icu_getInputCaptureValue(); | ||
|
|
||
| /* Clear the timer counter register */ | ||
| Icu_clearTimerValue(); | ||
|
|
||
| /* change the edge detection to be rising edge */ | ||
| Icu_setEdgeDetectionType(RISING); | ||
|
|
||
| } | ||
| } | ||
|
|
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