// SensoryMotor // Sends sensory inputs to, and receives motor outputs from a serial port connection // (works with the python app InputsVehicleBrain.app and circuit Gizmo_new.cad) // Emily Mackevicius Nov 27, 2012 // // Based on several of Neil Gershenfeld's HTMAA example files // #include #include #include #define output(directions,pin) (directions |= pin) // set port direction for output #define input(directions,pin) (directions &= (~pin)) // set port direction for input #define set(port,pin) (port |= pin) // set port pin #define clear(port,pin) (port &= (~pin)) // clear port pin #define pin_test(pins,pin) (pins & pin) // test for port pin #define bit_test(byte,bit) (byte & (1 << bit)) // test for bit set #define bit_delay_time 8.5 // bit delay for 115200 with overhead #define bit_delay() _delay_us(bit_delay_time) // RS232 bit delay #define half_bit_delay() _delay_us(bit_delay_time/2) // RS232 half bit delay #define char_delay() _delay_ms(10) // char delay #define serial_port PORTA #define serial_direction DDRA #define serial_pins PINA #define serial_pin_in (1 << PA0) #define serial_pin_out (1 << PA1) #define max_buffer 25 void get_char(volatile unsigned char *pins, unsigned char pin, char *rxbyte) { // // read character into rxbyte on pins pin // assumes line driver (inverts bits) // *rxbyte = 0; while (pin_test(*pins,pin)) // // wait for start bit // ; // // delay to middle of first data bit // half_bit_delay(); bit_delay(); // // unrolled loop to read data bits // if pin_test(*pins,pin) *rxbyte |= (1 << 0); else *rxbyte |= (0 << 0); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 1); else *rxbyte |= (0 << 1); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 2); else *rxbyte |= (0 << 2); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 3); else *rxbyte |= (0 << 3); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 4); else *rxbyte |= (0 << 4); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 5); else *rxbyte |= (0 << 5); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 6); else *rxbyte |= (0 << 6); bit_delay(); if pin_test(*pins,pin) *rxbyte |= (1 << 7); else *rxbyte |= (0 << 7); // // wait for stop bit // bit_delay(); half_bit_delay(); } void put_char(volatile unsigned char *port, unsigned char pin, char txchar) { // // send character in txchar on port pin // assumes line driver (inverts bits) // // start bit // clear(*port,pin); bit_delay(); // // unrolled loop to write data bits // if bit_test(txchar,0) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,1) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,2) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,3) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,4) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,5) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,6) set(*port,pin); else clear(*port,pin); bit_delay(); if bit_test(txchar,7) set(*port,pin); else clear(*port,pin); bit_delay(); // // stop bit // set(*port,pin); bit_delay(); // // char delay // bit_delay(); } void put_flash_string(volatile unsigned char *port, unsigned char pin, PGM_P str) { // // print a null-terminated string from flash // static char chr; static int index; index = 0; do { chr = pgm_read_byte(&(str[index])); put_char(port, pin, chr); ++index; } while (chr != 0); } void put_ram_string(volatile unsigned char *port, unsigned char pin, char *str) { // // print a null-terminated string from SRAM // static int index; index = 0; do { put_char(port, pin, str[index]); ++index; } while (str[index] != 0); } int main(void) { // // main // static char chr; static char buffer[max_buffer] = {0}; static int index; static uint16_t count; static uint8_t cycle; static unsigned char sense0_lo, sense0_hi, sense1_lo, sense1_hi; // // set clock divider to /1 // CLKPR = (1 << CLKPCE); CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0); // // initialize output pins // set(serial_port, serial_pin_out); input(serial_direction, serial_pin_out); // // main loop // index = 0; while (1) { get_char(&serial_pins, serial_pin_in, &chr); int temp = chr-'0'; if (temp == 6) { //read sensors // // init A/D // ADCSRB = (0 << ADLAR); // right adjust ADMUX = (0 << MUX3) | (1 << MUX2) | (1 << MUX1) | (0 << MUX0); // ADC6 = PA6 ADCSRA = (1 << ADEN) // enable | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0); // prescaler /128 // // initiate conversion // ADCSRA |= (1 << ADSC); // // wait for completion // while (ADCSRA & (1 << ADSC)) ; // // record result // sense0_lo = ADCL; sense0_hi = ADCH; // // init A/D // ADCSRB = (0 << ADLAR); // right adjust ADMUX = (0 << MUX3) | (1 << MUX2) | (1 << MUX1) | (1 << MUX0); // ADC7 = PA7 ADCSRA = (1 << ADEN) // enable | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0); // prescaler /128 // // initiate conversion // ADCSRA |= (1 << ADSC); // // wait for completion // while (ADCSRA & (1 << ADSC)) ; // // record result // sense1_lo = ADCL; sense1_hi= ADCH; // // send framing // output(serial_direction, serial_pin_out); put_char(&serial_port, serial_pin_out, '1'); char_delay(); put_char(&serial_port, serial_pin_out, '2'); char_delay(); put_char(&serial_port, serial_pin_out, '3'); char_delay(); put_char(&serial_port, serial_pin_out, '4'); char_delay(); // send data put_char(&serial_port, serial_pin_out, sense0_lo); char_delay(); put_char(&serial_port, serial_pin_out, sense0_hi); char_delay(); put_char(&serial_port, serial_pin_out, sense1_lo); char_delay(); put_char(&serial_port, serial_pin_out, sense1_hi); char_delay(); input(serial_direction, serial_pin_out); } } }