CG2271_Repo/ultrasonic_code.cpp at main · andrewtkh1/CG2271_Repo · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
/*----------------------------------------------------------------------------
 * CMSIS-RTOS 'main' function template
 *---------------------------------------------------------------------------*/
#include "MKL25Z4.h"
#include "RTE_Components.h"
#include  CMSIS_device_header
#include "cmsis_os2.h"
#define MASK(x) (1 << (x))
#define RED_LED 18 // PortB Pin 18
#define GREEN_LED 19 // PortB Pin 19
#define BLUE_LED 1 // PortD Pin 1

#define TRIGGER 12 // PORTC PIN 12
#define ECHO 13 // PORTC PIN 13

int volatile counter;
int volatile wait_delay;
int volatile duration = 10000;


void init_pit(){
	SIM->SCGC5 |= SIM_SCGC5_PORTC_MASK;
	PORTC->PCR[TRIGGER] &= ~PORT_PCR_MUX_MASK;
	PORTC->PCR[TRIGGER] |= PORT_PCR_MUX(1);
	PORTC->PCR[ECHO] &= ~PORT_PCR_MUX_MASK;
	PORTC->PCR[ECHO] |= PORT_PCR_MUX(1);

	PTC->PDDR |= MASK(TRIGGER);
	PTC->PDDR &= ~MASK(ECHO);


	SIM->SCGC6 |= SIM_SCGC6_PIT_MASK;
	PIT->MCR = 0;

	PIT->CHANNEL[0].LDVAL = 47;
	PIT->CHANNEL[0].TCTRL |= PIT_TCTRL_TIE_MASK | PIT_TCTRL_TEN_MASK;

	NVIC_SetPriority(PIT_IRQn,2);
	NVIC_ClearPendingIRQ(PIT_IRQn);
	NVIC_EnableIRQ(PIT_IRQn);
}

void PIT_IRQHandler(){
	if(PIT->CHANNEL[0].TFLG & PIT_TFLG_TIF_MASK){
		PIT->CHANNEL[0].TFLG &= PIT_TFLG_TIF_MASK;
		counter--;
		if(counter == 0){
			PIT->CHANNEL[0].TCTRL &= ~PIT_TCTRL_TEN_MASK;
			wait_delay = 0;
		}
	}
}


int detect(void){
	PTC->PDOR &= ~MASK(TRIGGER);
	wait_delay = 1;
	counter = 2;
	PIT->CHANNEL[0].TCTRL |= PIT_TCTRL_TEN_MASK;
	while(wait_delay);

	PTC->PDOR |= MASK(TRIGGER);
	wait_delay = 1;
	counter = 10;
	PIT->CHANNEL[0].TCTRL |= PIT_TCTRL_TEN_MASK;
	while(wait_delay);

	PTC->PDOR &= ~MASK(TRIGGER);

	wait_delay = 1;
	counter = 10000;
	PIT->CHANNEL[0].TCTRL |= PIT_TCTRL_TEN_MASK;

	while ((PTC->PDIR & MASK(ECHO)) == 0){
		if(!wait_delay){
			duration = 200000;
			return -1;
		}
	}
	while ((PTC->PDIR & MASK(ECHO)) == MASK(ECHO)){
		if(!wait_delay){
			duration = 200000;
			return -1;
		}
	}

	duration = 10000 - counter;

	if(duration <=1000)
		return 1;
	else return 0;

}

typedef enum led_colors
{
	red = RED_LED, green = GREEN_LED, blue = BLUE_LED
}led_colors_t;


void InitGPIO(void)
{
	// Enable Clock to PORTB and PORTD
	SIM->SCGC5 |= ((SIM_SCGC5_PORTB_MASK) | (SIM_SCGC5_PORTD_MASK));

	// Configure MUX settings to make all 3 pins GPIO
	PORTB->PCR[RED_LED] &= ~PORT_PCR_MUX_MASK;
	PORTB->PCR[RED_LED] |= PORT_PCR_MUX(1);

	PORTB->PCR[GREEN_LED] &= ~PORT_PCR_MUX_MASK;
	PORTB->PCR[GREEN_LED] |= PORT_PCR_MUX(1);

	PORTD->PCR[BLUE_LED] &= ~PORT_PCR_MUX_MASK;
	PORTD->PCR[BLUE_LED] |= PORT_PCR_MUX(1);

	//PORTA->PCR[VCC] &= ~PORT_PCR_MUX_MASK;
	//PORTA->PCR[VCC] |= PORT_PCR_MUX(1);

	// Set Data Direction Registers for PortB and PortD
	PTB->PDDR |= (MASK(RED_LED) | MASK(GREEN_LED));
	PTD->PDDR |= MASK(BLUE_LED);

	//PTA->PDDR |= MASK(VCC);
}


void offlled(void){
	PTB ->PSOR = (MASK(RED_LED) | MASK(GREEN_LED));
	PTD ->PSOR = (MASK(BLUE_LED));
}


int main (void) {

  // System Initialization
  SystemCoreClockUpdate();
	InitGPIO();
	init_pit();

	while(1) {
		if(detect()){
				PTB -> PCOR = MASK(RED_LED);
				PTB ->PSOR = (MASK(GREEN_LED));
				PTD ->PSOR = (MASK(BLUE_LED));
		} else {
				PTB -> PSOR = MASK(RED_LED);
				PTB ->PSOR = (MASK(GREEN_LED));
				PTD ->PSOR = (MASK(BLUE_LED));
		}
}


	//initGreenStrip();
	//osThreadNew(thread_buzzer, NULL, NULL);
	//osKernelStart();                      		// Start thread execution

}