/**************************************************************************** * 07/04/2011 started coding * ****************************************************************************/ #define __MAIN_C__ #include "type.h" #include "timer.h" #include #include void LCD_Init(void); void write_a_string(void); void blink(void); void Init_Motors(void); void Reverse_Motors(void); void TurnLeft_Motors(void); void TurnRight_Motors(void); void Forward_Motors(void); void Init_Rangers(void); void Start_Rangers(void); uint8_t LeftRangerFlag; uint32_t LeftRangerDistance = 0; //static const uint32_t d = 7; //static const float fd = 5.3; void led_init (void) { //P0.22 was 12 and 1 LPC_PINCON->PINSEL3 &= (~(3 << 26)); // Set GPIO - P1_29 - to be output LPC_GPIO1->FIODIR |= (1 << 29); } // Function to turn LED2 on void led_on (void) { LPC_GPIO1->FIOSET |= (1 << 29); } // Function to turn LED2 off void led_off (void) { LPC_GPIO1->FIOCLR |= (1 << 29); } /* Init LCD and write the character H FIOSET and FIOCLR only respond to 1 not 0 FIOMASK 0 means effected by FIOPIN */ void LCD_Init() { //wait for power up delayUs(0,40000); //RS Goes low P1.18 LPC_GPIO1->FIOCLR = (1 << 18); //R/W goes low LPC_GPIO1->FIOCLR = (1 << 19); delayUs(0,2); //Enable goes high LPC_GPIO1->FIOSET = (1 << 20); //Only change 1.21 through 1.28 LPC_GPIO1->FIOMASK = (~(0x1FE00000)); //Put data on bus LPC_GPIO1->FIOPIN = 0x07000000; //Function set //Reset all LPC_GPIO1->FIOMASK = 0x00000000; delayUs(0,2); //Enable goes low LPC_GPIO1->FIOCLR = (1 << 20); delayUs(0,2); //Enable goes high LPC_GPIO1->FIOSET = (1 << 20); delayUs(0,6000); //RS Goes low P1.18 LPC_GPIO1->FIOCLR = (1 << 18); //R/W goes low LPC_GPIO1->FIOCLR = (1 << 19); delayUs(0,2); //Enable goes high LPC_GPIO1->FIOSET = (1 << 20); //Only change 1.21 through 1.28 LPC_GPIO1->FIOMASK = (~(0x1FE00000)); //Put data on bus LPC_GPIO1->FIOPIN = 0x01C00000; //Display on plus cursor //Reset all LPC_GPIO1->FIOMASK = 0x00000000; delayUs(0,2); //Enable goes low LPC_GPIO1->FIOCLR = (1 << 20); delayUs(0,2); //Enable goes high LPC_GPIO1->FIOSET = (1 << 20); delayUs(0,200); //RS Goes low P1.18 LPC_GPIO1->FIOCLR = (1 << 18); //R/W goes low LPC_GPIO1->FIOCLR = (1 << 19); delayUs(0,2); //Enable goes high LPC_GPIO1->FIOSET = (1 << 20); //Only change 1.21 through 1.28 LPC_GPIO1->FIOMASK = (~(0x1FE00000)); //Put data on bus LPC_GPIO1->FIOPIN = 0x00C00000; //Entry mode set //Reset all LPC_GPIO1->FIOMASK = 0x00000000; delayUs(0,2); //Enable goes low LPC_GPIO1->FIOCLR = (1 << 20); delayUs(0,2); //Enable goes high LPC_GPIO1->FIOSET = (1 << 20); delayUs(0,1000); //RS Goes high - data mode P1.18 LPC_GPIO1->FIOSET = (1 << 18); delayUs(0,100); //R/W goes low LPC_GPIO1->FIOCLR = (1 << 19); delayUs(0,2); //Enable goes high LPC_GPIO1->FIOSET = (1 << 20); //Only change 1.21 through 1.28 LPC_GPIO1->FIOMASK = (~(0x1FE00000)); //Put data on bus LPC_GPIO1->FIOPIN = 0x09000000; //H //Reset all LPC_GPIO1->FIOMASK = 0x00000000; delayUs(0,60); //Enable goes low LPC_GPIO1->FIOCLR = (1 << 20); delayUs(0,60); //Enable goes high LPC_GPIO1->FIOSET = (1 << 20); } void write_a_string() { } /***************************************************************************/ /* main */ /***************************************************************************/ int main (void) { init_timer( 0, TIME_INTERVAL ); // 1us enable_timer( 0 ); //Set Pins 1.x as GPIO LPC_PINCON->PINSEL3 &= 0x00000000; //Set Pins on 1.16 - 1.31 as outputs LPC_GPIO1->FIODIR |= 0xFFFFFFFF; //Set all low LPC_GPIO1->FIOPIN = 0x00000000; LCD_Init(); Init_Rangers(); delayUs(0,1000000); //1s //Init_Motors(); //start going forward LeftRangerDistance = 9*147; while(1) { delayUs(0,250000); led_off(); Start_Rangers(); delayUs(0,250000); if (LeftRangerDistance < 8*147) //8 inches { //Reverse_Motors(); delayUs(0,1000000); //1s //TurnLeft_Motors(); delayUs(0,500000); //.5s //Forward_Motors(); }else delayUs(0,250000); led_on(); } //fake return return(0); } void Init_Rangers() { LPC_PINCON->PINSEL4 |= (0x01 << 22); //Set P2.11 as EINT1 LPC_SC->EXTMODE |= 0x02; //EINT1 is edge sensitive LPC_SC->EXTPOLAR |= 0x01; //EINT1 is rising edge init_timer( 1, TIME_INTERVAL ); // 1us enable_timer( 1 ); } /* 49ms period > 37.5ms, no target 147us per inch Rx goes high, then stuff, the PW goes high, when goes low is range. */ void Start_Rangers() { LeftRangerFlag = 1; //Left Ranger, Rx goes high LPC_GPIO1->FIOSET = (1 << 29); //Clear Interrupt LPC_SC->EXTINT = (1 << 1); //Get rising edge NVIC_EnableIRQ(EINT1_IRQn); } void EINT1_IRQHandler(void) { NVIC_DisableIRQ(EINT1_IRQn); if (LeftRangerFlag == 1) //rising edge, start counting { LeftRangerFlag = 0; reset_timer( 1 ); LPC_SC->EXTPOLAR &= 0xFFFFFFF0; //EINT1 is falling edge LPC_SC->EXTINT = (1 << 1); NVIC_EnableIRQ(EINT1_IRQn); //Left Ranger, Rx goes low LPC_GPIO1->FIOCLR = (1 << 29); } else { LeftRangerDistance = get_timer_value( 1 ); //Count length of pulse } return; } void Init_Motors() { LPC_PINCON->PINSEL7 |= (0x3 << 18); //Turn on PWM1.2 LPC_PINCON->PINSEL4 |= (0x1 << 4); //Turn on PWM1.3 LPC_PWM1->TCR = 0x0; LPC_PWM1->PR = 0x00; /* set prescaler to zero */ LPC_PWM1->MR0 = 20 * (27000000 / 1000-1); //should be period, 20ms LPC_PWM1->MR2 = 1700 * (27000 / 1000-1); //should be match 1.7ms LPC_PWM1->MR3 = 1300 * (27000 / 1000-1); //should be match 1.3ms LPC_PWM1->MCR = 0x02; /* reset timer on match */ LPC_PWM1->PCR |= (3 << 10); /* enable PWM2 and PWM3*/ LPC_PWM1->TCR |= 0x9; /* start timer */ } void Reverse_Motors() { LPC_PWM1->MR2 = 1300 * (27000 / 1000-1); //should be match 1.3ms LPC_PWM1->MR3 = 1700 * (27000 / 1000-1); //should be match 1.7ms LPC_PWM1->LER = (0x3<<2); } void TurnRight_Motors() { LPC_PWM1->MR2 = 1700 * (27000 / 1000-1); //should be match 1.7ms LPC_PWM1->MR3 = 0; LPC_PWM1->LER = (0x3<<2); } void TurnLeft_Motors() { LPC_PWM1->MR2 = 0; LPC_PWM1->MR3 = 1300 * (27000 / 1000-1); //should be match 1.3ms LPC_PWM1->LER = (0x3<<2); } void Forward_Motors() { LPC_PWM1->MR2 = 1700 * (27000 / 1000-1); //should be match 1.7ms LPC_PWM1->MR3 = 1300 * (27000 / 1000-1); //should be match 1.3ms LPC_PWM1->LER = (0x3<<2); }