embedlab-15

#include <16F886.h>
#device ADC=10 *=16
#device PASS_STRINGS=IN_RAM
#include <math.h>

#FUSES NOWDT                    //No Watch Dog Timer
#FUSES PUT                      //Power Up Timer
#FUSES NOMCLR                   //Master Clear pin not enabled
#FUSES NOPROTECT                //Code not protected from reading
#FUSES NOCPD                    //No EE protection
#FUSES BROWNOUT                 //Brownout reset
#FUSES IESO                     //Internal External Switch Over mode enabled
#FUSES FCMEN                    //Fail-safe clock monitor enabled
#FUSES NOLVP                    //No low voltage prgming, B3(PIC16) or B5(PIC18) used for I/O
#FUSES NODEBUG                  //No Debug mode for ICD
#FUSES NOWRT                    //Program memory not write protected
#FUSES BORV40                   //Brownout reset at 4.0V
#FUSES RESERVED                 //Used to set the reserved FUSE bits
#FUSES INTRC_IO

#use delay(clock=8M)

#use rs232(baud=9600,parity=N,xmit=PIN_C6,rcv=PIN_C7,bits=8)   // setup UART
#use i2c(MASTER, I2C1, FORCE_HW)                               // configure the i2c port

#define RUN_BUTTON   PIN_B7
#define HC_SR04_TRIGGER_PIN     PIN_C1
#define HC_SR04_ECHO_PIN        PIN_C2
#define Left_button PIN_B6
#define Right_button PIN_B5
#define Start_button PIN_B3
// Right_motor PIN_B2,PIN_A7
// Left_motor PIN_B1,PIN_A6


unsigned int16 rise_cnt, fall_cnt, pulse_width_cnt;
int1 isRisingEdge;
int16 interruptCounter = 0;
int16 dutyCycle = 0;

#int_CCP1
void CCP1_isr(void)
{
    if (isRisingEdge)
    {
        isRisingEdge = 0;
        rise_cnt = CCP_1;
        setup_ccp1(CCP_CAPTURE_FE);
    }
    else
    {
        fall_cnt = CCP_1;
        if (fall_cnt >= rise_cnt)
            pulse_width_cnt = fall_cnt - rise_cnt;
        else
            pulse_width_cnt = 65536 + fall_cnt - rise_cnt;

        isRisingEdge = 1;
        setup_ccp1(CCP_CAPTURE_RE);
    }
}

//PWM
#INT_TIMER1
  void timer1_isr(){
   set_timer1(62026);
   interruptCounter++;
   if (interruptCounter == dutyCycle){
       output_low(PIN_B4);
   }
   if (interruptCounter == 500) {
      interruptCounter = 0;
      if (dutyCycle > 0) {output_high(PIN_B4);}
   }
}


unsigned int16 HC_SR04_get_distance()
{
    unsigned int16 value;
    value = 0;
    pulse_width_cnt = 0;
    output_low(HC_SR04_TRIGGER_PIN);
    delay_us(10);
    set_timer1(0);
    isRisingEdge = 1;
    setup_ccp1(CCP_CAPTURE_RE);

    // trigger measurement
    output_high(HC_SR04_TRIGGER_PIN);
    delay_us(10);
    output_low(HC_SR04_TRIGGER_PIN);

    delay_ms(40); // allow CCP interrupt to see both edges of max pulse=38ms

    // pulse_width_cnt is in 1us units
    value = pulse_width_cnt / 58L; // converts to cm unit

    return value;
}

void HC_SR04_setup()
{
    setup_timer_1(T1_INTERNAL | T1_DIV_BY_2); //start 1us per inc timer
    enable_interrupts(INT_CCP1);
    enable_interrupts(GLOBAL);
}

int16 calc(int8 distance){
   int16 u=225;
   float error=0.17;
   int16 i=distance;
   if(distance<20){
      error = 0.155;
   }
   u+=i+(i*error);
   return u;
}


void main(){

   // ADC SETUP
   //setup_adc_ports(sAN0|sAN2);   // setup PIN A0 and A2 as analog input
   //setup_adc(ADC_CLOCK_INTERNAL);
   HC_SR04_setup();
   set_timer1(62026);
   output_high(PIN_A2);
  // enable_interrupts(INT_TIMER1);
   while(1){
   printf("distance: %lu\n", HC_SR04_get_distance());
   if(input(Left_button)){
     // printf("Left: %lu\n", HC_SR04_get_distance());
      output_toggle(PIN_B1);
      output_toggle(PIN_A6);
      delay_ms(500);
   }else if(input(Right_button)){
     // printf("Right: %lu\n", HC_SR04_get_distance());
      output_toggle(PIN_B2);
      output_toggle(PIN_A7);
      delay_ms(500);
   }
   if(input(Start_button)){
      printf("Start System !!\n");
      dutyCycle=1;
      enable_interrupts(INT_TIMER1);
      delay_ms(10000);
      dutyCycle=calc(HC_SR04_get_distance());
      enable_interrupts(INT_TIMER1);
      printf("Press Start: %lu\n", dutyCycle);
   }

   delay_ms(500);
   }
}