Skip to content

Create ultrasonic.c #45

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
moranod3 wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Create ultrasonic.c #45

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
210 changes: 210 additions & 0 deletions src/ultrasonic.c
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,210 @@
//#include "timing.h"
#include "task.h"
#include "ultrasonic.h"
#include "project_settings.h"
#include "msp430.h"

/*
* In project_settings.h the following must be defined or set
* TRIGGER = the Pin which the TRIGGER of the ultrasonic sensor is connected
* Ex. If TRIGGER is connected to P1.3, then #define TRIGGER = BIT3
* ECHO = the Pin which the ECHO of the ultrasonic sensor is connected
* Ex. If ECHO is connected to P1.4, then #define ECHO = BIT4
*
* If using 2 Ultrasonic Sensors add #define USE_ULTRASONIC2 1 to the project_settings.h file.
* Also must denote the pins for the second sensor.
* Ex.
* #define ECHO2 BIT5
* #define TRIGGER2 BIT4
*
* NOTE: Ultrasonic Sensor 1 must use Port 1 pins
* Ultrasonic Sensor 2 must use Port 2 pins
*
* Ultrasonic.c made to work with HC-SR04 Ultrasonic Sensor
* Works from 2cm to 400cm with an approximate deviation of + or - 2cm
*/

uint32_t ms;
int echoLength;

void Ultrasonic_Measure();
void Ultrasonic_Calc(uint16_t gap);

#if USE_ULTRASONIC2

uint32_t ms2;
int echoLength2;

void Ultrasonic_Measure2();
void Ultrasonic_Calc2(uint16_t gap2);
//void Ultrasonic_SendValue();

#endif

void Ultrasonic_Init(uint16_t period){
P1DIR |= TRIGGER; // TRIGGER pin as output
P1DIR &= ~ECHO; // ECHO pin as input
P1IE |= ECHO; //Enable Port Interrupt on ECHO Pin
TA1CCR0 = 24000; //Set the period to 1ms
TA1CTL &= ~TAIFG; //Clear the interrupt flag
TA1CTL |= TASSEL_2 | MC_1 | TACLR; //Set SMCLK, UP Mode
TA1CCTL0 |= CCIE;

#if USE_ULTRASONIC2
P2DIR |= TRIGGER2; // TRIGGER pin as output
P2DIR &= ~ECHO2; // ECHO pin as input
P2IE |= ECHO2; //Enable Port Interrupt on ECHO Pin
TA2CCR0 = 25000; //Set the period to 1ms
TA2CTL &= ~TAIFG; //Clear the interrupt flag
TA2CTL |= TASSEL_2 | MC_1 | TACLR; //Set SMCLK, UP Mode
TA2CCTL0 |= CCIE;
#endif
Task_Schedule(Ultrasonic_Measure, 0, 0, 0);

}
void Ultrasonic_Deinit(uint8_t sensor_handle){
if (sensor_handle == 1)
Task_Remove(Ultrasonic_Measure, 0);
#if USE_ULTRASONIC2
else if (sensor_handle == 2)
Task_Remove(Ultrasonic_Measure2, 0);
#endif
else{
Task_Remove(Ultrasonic_Measure, 0);
#if USE_ULTRASONIC2
Task_Remove(Ultrasonic_Measure2, 0);
#endif
}
}

void Ultrasonic_Calc(uint16_t gap){
distance = gap / 58;
Task_Schedule(Ultrasonic_Measure, 0, 0, 0);
}

void Ultrasonic_Measure(){
P1IE &= ~0x01; // disable interupt
P1DIR |= TRIGGER; // trigger pin as output
P1OUT |= TRIGGER; // generate pulse
__delay_cycles(10); // for 10us
P1OUT &= ~TRIGGER; // stop pulse
P1DIR &= ~ECHO; // make pin P1.2 input (ECHO)
P1IFG = 0x00; // clear flag just in case anything happened before
P1IE |= ECHO; // enable interupt on ECHO pin
P1IES &= ~ECHO; // rising edge on ECHO pin
}

//void Ultrasonic_SendValue(){
//
//}
// Port 1 interrupt service routine
#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector=PORT1_VECTOR
__interrupt void Port_1(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(PORT1_VECTOR))) Port_1 (void)
#else
#error Compiler not supported!
#endif
{
if(P1IFG&ECHO) //check for pending interrupt
{
if(!(P1IES&ECHO)) // if rising edge
{
TA1CTL|=TACLR; // clears timer
ms = 0; // reset time
P1IES |= ECHO; // falling edge
}
else
{
int carryOverUS;
carryOverUS = ((long)TA1R/24);
echoLength = (long)ms*1000 + (long)carryOverUS; //calculating ECHO time length
Ultrasonic_Calc(echoLength);
}
P1IFG &= ~ECHO; //clear flag
}
} // Clear P1.4 IE


#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector=TIMER1_A0_VECTOR
__interrupt void TIMER1_A0_ISR(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(TIMER1_A0_VECTOR))) TIMER1_A0_ISR (void)
#else
#error Compiler not supported!
#endif
{
ms++;
if (ms > 3000){ // after 3000 milliseconds the sensor times out
Task_Schedule(Ultrasonic_Measure, 0, 0, 0); // reschedule incase of timeout
}
TA1CTL &= ~TAIFG; //Clear the interrupt flag
}


#if USE_ULTRASONIC2


void Ultrasonic_Calc2(uint16_t gap2){
distance2 = gap2 / 58 ;
Task_Schedule(Ultrasonic_Measure2, 0, 0, 0);
}
void Ultrasonic_Measure2(){
P2IE &= ~0x01; // disable interupt
P2DIR |= TRIGGER2; // trigger pin as output
P2OUT |= TRIGGER2; // generate pulse
__delay_cycles(10); // for 10us
P2OUT &= ~TRIGGER2; // stop pulse
P2DIR &= ~ECHO2; // make pin P1.2 input (ECHO)
P2IFG = 0x00; // clear flag just in case anything happened before
P2IE |= ECHO2; // enable interupt on ECHO pin
P2IES &= ~ECHO2; // rising edge on ECHO pin
}

// Port 2 interrupt service routine
#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector=PORT2_VECTOR
__interrupt void Port_2(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(PORT1_VECTOR))) Port_1 (void)
#else
#error Compiler not supported!
#endif
{
if(P2IFG&ECHO2) //check for pending interrupt
{
if(!(P2IES&ECHO2)) // if rising edge
{
TA2CTL|=TACLR; // clears timer
ms2 = 0; // reset time
P2IES |= ECHO2; // falling edge
}
else
{
int carryOverUS2;
carryOverUS2 = ((long)TA2R/25);
echoLength2 = (long)ms2*1000 + (long)carryOverUS2; //calculating ECHO time length
Ultrasonic_Calc2(echoLength2);
}
P2IFG &= ~ECHO2; //clear flag
}
}

#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector=TIMER2_A0_VECTOR
__interrupt void TIMER2_A0_ISR(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(TIMER1_A0_VECTOR))) TIMER1_A0_ISR (void)
#else
#error Compiler not supported!
#endif
{
ms2++;
if (ms2 > 3000){ // after 3000 milliseconds the sensor times out
Task_Schedule(Ultrasonic_Measure2, 0, 0, 0); // reschedule incase of timeout
}
TA2CTL &= ~TAIFG; //Clear the interrupt flag
}
#endif