dear
i have xmega256A3u . i have to operate 16 ultrasonic Hcsr04 directly to the MCU, where i am using the TC0 timers (TCC0,TCD0,TCE0,TCF0).in each of them i use the four capture channel CCA,CCB,CCC,CCD in normal mode with Pulse-Width capture,
the 16 Hcsr04 sensors are divided into 4 groups, each group have 4 sensor and each sensor use one capture channel of the related timer, so the for first two sensor group(8 sensor) i use TCC0 and TCD0, with selection of the event channel 0 to event channel 7 connected to PORTA which receive the echo signals, but for the second-tow sensor group(8 sensor) i am trying to change the source of the event channel to operate another 8 echo which the are connected to PORTD, below some parts of my code, i use TCC1 for timer out for 30 ms , for the first two group i use "init_event_system(&ECHO_PORT1)", and for the secon i use init_event_system(&ECHO_PORT2);
#define TIME_OUT_TIMER TCC1
#define FIRST_LAYER_TIMER TCC0
#define SECOND_LAYER_TIMER TCD0
#define THIRD_LAYER_TIMER TCE0
#define FORTH_LAYER_TIMER TCF0
#define FIRST_SONAR_LAYER 1
#define SECOND_SONAR_LAYER 2
#define THIRD_SONAR_LAYER 3
#define FOURTH_SONAR_LAYER 4
#define ECHO_PORT1 PORTA
#define ECHO_PORT2 PORTD
#define TRIGG_PORT1 PORTB
#define TRIGG_PORT2 PORTC
void init_TC1_normal_mode(TC1_t *t)
{
t->CTRLA = TC_CLKSEL_OFF_gc;
t->CTRLB=(0<<TC0_CCDEN_bp) | (0<<TC0_CCCEN_bp) | (0<<TC0_CCBEN_bp) | (0<<TC0_CCAEN_bp) | TC_WGMODE_NORMAL_gc;
t->CTRLD=TC_EVACT_OFF_gc | TC_EVSEL_OFF_gc;
t->CTRLE=TC_BYTEM_NORMAL_gc;
t->INTCTRLA=TC_ERRINTLVL_OFF_gc | TC_OVFINTLVL_LO_gc;
t->INTCTRLB = TC_CCDINTLVL_OFF_gc | TC_CCCINTLVL_OFF_gc | TC_CCBINTLVL_OFF_gc | TC_CCAINTLVL_OFF_gc;
HIRESF.CTRLA &= ~HIRES_HREN0_bm;
t->INTFLAGS=TCF0.INTFLAGS;
t->CNT=0x0000;
t->PER=0xEA5F;//oxEE47;30 ms
t->CCA=0x0000;
t->CCB=0x0000;
SREG=s;
}
void init_TC0_capture_input(TC0_t *timer)
{
timer_0_disable(timer);
timer->CTRLB = TC0_CCAEN_bm | TC0_CCBEN_bm | TC0_CCCEN_bm | TC0_CCDEN_bm| TC_WGMODE_NORMAL_gc;
timer->CTRLA = TC_CLKSEL_DIV8_gc;
timer->INTCTRLB = TC_CCAINTLVL_OFF_gc | TC_CCBINTLVL_OFF_gc | TC_CCCINTLVL_OFF_gc | TC_CCDINTLVL_OFF_gc;
timer->INTFLAGS = timer->INTFLAGS;
if((timer == &FIRST_LAYER_TIMER) | (timer == &THIRD_LAYER_TIMER))
timer->CTRLD = TC_EVACT_PW_gc | TC_EVSEL_CH0_gc;
else
timer->CTRLD = TC_EVACT_PW_gc | TC_EVSEL_CH4_gc;
}
void init_event_system(PORT_t* _port)
{
if(_port == &ECHO_PORT1)
{
EVSYS.CH0MUX = EVSYS_CHMUX_PORTA_PIN0_gc;
EVSYS.CH1MUX = EVSYS_CHMUX_PORTA_PIN1_gc;
EVSYS.CH2MUX = EVSYS_CHMUX_PORTA_PIN2_gc;
EVSYS.CH3MUX = EVSYS_CHMUX_PORTA_PIN3_gc;
EVSYS.CH4MUX = EVSYS_CHMUX_PORTA_PIN4_gc;
EVSYS.CH5MUX = EVSYS_CHMUX_PORTA_PIN5_gc;
EVSYS.CH6MUX = EVSYS_CHMUX_PORTA_PIN6_gc;
EVSYS.CH7MUX = EVSYS_CHMUX_PORTA_PIN7_gc;
}
if(_port == &ECHO_PORT2)
{
EVSYS.CH0MUX = EVSYS_CHMUX_PORTD_PIN0_gc;
EVSYS.CH1MUX = EVSYS_CHMUX_PORTD_PIN1_gc;
EVSYS.CH2MUX = EVSYS_CHMUX_PORTD_PIN2_gc;
EVSYS.CH3MUX = EVSYS_CHMUX_PORTD_PIN3_gc;
EVSYS.CH4MUX = EVSYS_CHMUX_PORTD_PIN4_gc;
EVSYS.CH5MUX = EVSYS_CHMUX_PORTD_PIN5_gc;
EVSYS.CH6MUX = EVSYS_CHMUX_PORTD_PIN6_gc;
EVSYS.CH7MUX = EVSYS_CHMUX_PORTD_PIN7_gc;
}
}
void init_ports()
{
//***************** Ultrasonic PORTs ****************************************
/* TRIG PORT ...PORTB, PORTC */
PORTB.DIRCLR = 0xFF;
PORTC.DIRCLR = 0xFF;
PORTA.PIN0CTRL = PORT_ISC_BOTHEDGES_gc | PORT_OPC_TOTEM_gc;
PORTA.PIN1CTRL = PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc ;
PORTA.PIN2CTRL = PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc;
PORTA.PIN3CTRL = PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc;
PORTA.PIN4CTRL = PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc;
PORTA.PIN5CTRL = PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc;
PORTA.PIN6CTRL = PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc;
PORTA.PIN7CTRL = PORT_ISC_BOTHEDGES_gc | PORT_OPC_PULLUP_gc;
PORTB.PIN0CTRL = PORT_OPC_PULLDOWN_gc;
PORTB.PIN1CTRL = PORT_OPC_PULLDOWN_gc ;
PORTB.PIN2CTRL = PORT_OPC_PULLDOWN_gc;
PORTB.PIN3CTRL = PORT_OPC_PULLDOWN_gc;
PORTB.PIN4CTRL = PORT_OPC_PULLDOWN_gc;
PORTB.PIN5CTRL = PORT_OPC_PULLDOWN_gc;
PORTB.PIN6CTRL = PORT_OPC_PULLDOWN_gc;
PORTB.PIN7CTRL = PORT_OPC_PULLDOWN_gc;
}
int main(void)
{
init_TC0_capture_input(&FIRST_LAYER_TIMER);
init_TC0_capture_input(&SECOND_LAYER_TIMER);
init_TC0_capture_input(&THIRD_LAYER_TIMER);
init_TC0_capture_input(&FORTH_LAYER_TIMER);
init_TC1_normal_mode(&TIME_OUT_TIMER);
init_ports()
}
void startup_scan_process(bool _scanDirection)
{
myStepper.currentDirection = _scanDirection;
for(uint8_t i = 0; i< myStepper.numberOfActivLayer; i++)
{
if(i >(uint8_t)FIRST_SONAR_LAYER)
{
init_event_system(&ECHO_PORT2);
measure_distance(&sonarVector[i],_scanDirection);
}
else
{
init_event_system(&ECHO_PORT1);
measure_distance(&sonarVector[i],_scanDirection);
}
}
_delay_ms(100);
transmitt_acqusition_block_data(sonarVector,myStepper.currentDirection);
stepper_action(sonarVector,myStepper.currentDirection,false);
_delay_ms(500);
}
void measure_distance(HCSR04* _sensorGroup ,uint8_t _scanDirection)
{
TIME_OUT_TIMER.CTRLA |= TC_CLKSEL_OFF_gc;
for(uint8_t u = 0; u < _sensorGroup->sensorCount; u++)
{
TIME_OUT_TIMER.CNT = 0;
_sensorGroup->trig(_sensorGroup->layerSensorGroup[u],_sensorGroup->sideNumber);
TIME_OUT_TIMER.CTRLA |= TC_CLKSEL_DIV8_gc;
while(!sonarEchoFlag & !sonarTimeoutFlag);
TIME_OUT_TIMER.CTRLA=(TIME_OUT_TIMER.CTRLA & (~TC1_CLKSEL_gm)) | TC_CLKSEL_OFF_gc;
if(sonarTimeoutFlag)
{
if(_sensorGroup->sideNumber == 2)
{
if(u == 3 )
{
PORTF.OUTTGL = PIN0_bm;
sonarTimeoutFlag = false;
_sensorGroup->SonarRangUnion.measurmentPulse[u]=0;
_sensorGroup->SonarAngleUnion.measurmentAngel[u] = _sensorGroup->sonarOrintation[u];
}
}
}
else
{
if(sonarEchoFlag)
{
_sensorGroup->calculateDistance(_sensorGroup->layerSensorGroup[u],_sensorGroup);
sonarEchoFlag = false;
}
}
sonarTimeoutFlag = false;
}
}
oid HCSR04::calculateDistance(uint8_t trigPin, HCSR04* _sensorGroup)
{
uint16_t pulseWidth = 0;
uint8_t counter = 0;
uint8_t _whichSide = _sensorGroup->sideNumber;
switch(_whichSide)
{
case FIRST_SONAR_LAYER:
switch(trigPin)
{
case SONAR1:
pulseWidth = TC_GetCaptureA(&FIRST_LAYER_TIMER);
counter = 0;
break;
case SONAR2:
pulseWidth = TC_GetCaptureB(&FIRST_LAYER_TIMER);
counter = 1;
break;
case SONAR3:
pulseWidth = TC_GetCaptureC(&FIRST_LAYER_TIMER);
counter = 2;
break;
case SONAR4:
pulseWidth = TC_GetCaptureD(&FIRST_LAYER_TIMER);
counter = 3;
break;
}
break;
case SECOND_SONAR_LAYER:
switch(trigPin)
{
case SONAR5:
pulseWidth = TC_GetCaptureA(&SECOND_LAYER_TIMER);
counter = 0;
break;
case SONAR6:
pulseWidth = TC_GetCaptureB(&SECOND_LAYER_TIMER);
counter = 1;
break;
case SONAR7:
pulseWidth = TC_GetCaptureC(&SECOND_LAYER_TIMER);
counter = 2;
break;
case SONAR8:
pulseWidth = TC_GetCaptureD(&SECOND_LAYER_TIMER);
counter = 3;
break;
}
break;
case THIRD_SONAR_LAYER:
switch(trigPin)
{
case SONAR1:
pulseWidth = TC_GetCaptureA(&THIRD_LAYER_TIMER);
counter = 0;
break;
case SONAR2:
pulseWidth = TC_GetCaptureB(&THIRD_LAYER_TIMER);
counter = 1;
break;
case SONAR3:
pulseWidth = TC_GetCaptureC(&THIRD_LAYER_TIMER);
counter = 2;
break;
case SONAR4:
pulseWidth = TC_GetCaptureD(&THIRD_LAYER_TIMER);
counter = 3;
break;
}
break;
case FOURTH_SONAR_LAYER:
switch(trigPin)
{
case SONAR5:
pulseWidth = TC_GetCaptureA(&FORTH_LAYER_TIMER);
counter = 0;
break;
case SONAR6:
pulseWidth = TC_GetCaptureB(&FORTH_LAYER_TIMER);
counter = 1;
break;
case SONAR7:
pulseWidth = TC_GetCaptureC(&FORTH_LAYER_TIMER);
counter = 2;
break;
case SONAR8:
pulseWidth = TC_GetCaptureD(&FORTH_LAYER_TIMER);
counter = 3;
break;
}
break;
}
_sensorGroup->SonarRangUnion.measurmentPulse[counter] =
((pulseWidth > this->sensorMaxRang )||((pulseWidth < this->sensorMinRang))?0:pulseWidth);
_sensorGroup->SonarAngleUnion.measurmentAngel[counter] = _sensorGroup->sonarOrintation[counter];
the "measure_distance" function just round for each sensor and trig it for 12us and th MCU wait for TCC1 overFlow or for TCC0 input captuer, at the ISR i just rise a flage and disable the timer
//----------------------------------------------------- Timer TCCO Interrupt ISR-------------------------------------
ISR(TCC0_CCA_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; FIRST_LAYER_TIMER.INTCTRLB = TC_CCAINTLVL_OFF_gc ; }
ISR(TCC0_CCB_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; FIRST_LAYER_TIMER.INTCTRLB = TC_CCBINTLVL_OFF_gc ; }
ISR(TCC0_CCC_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; FIRST_LAYER_TIMER.INTCTRLB = TC_CCCINTLVL_OFF_gc ; }
ISR(TCC0_CCD_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; FIRST_LAYER_TIMER.INTCTRLB = TC_CCDINTLVL_OFF_gc ; }
//----------------------------------------------------- Timer TCDO Interrupt ISR-------------------------------------
ISR(TCD0_CCA_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; SECOND_LAYER_TIMER.INTCTRLB = TC_CCAINTLVL_OFF_gc ; }
ISR(TCD0_CCB_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; SECOND_LAYER_TIMER.INTCTRLB = TC_CCBINTLVL_OFF_gc ; }
ISR(TCD0_CCC_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; SECOND_LAYER_TIMER.INTCTRLB = TC_CCCINTLVL_OFF_gc ; }
ISR(TCD0_CCD_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; SECOND_LAYER_TIMER.INTCTRLB = TC_CCDINTLVL_OFF_gc ; }
//-------------------------------------------------------------------------------------------------------------------
//----------------------------------------------------- Timer TCEO Interrupt ISR-------------------------------------
ISR(TCE0_CCA_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; THIRD_LAYER_TIMER.INTCTRLB = TC_CCAINTLVL_OFF_gc ; }
ISR(TCE0_CCB_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; THIRD_LAYER_TIMER.INTCTRLB = TC_CCBINTLVL_OFF_gc ; }
ISR(TCE0_CCC_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; THIRD_LAYER_TIMER.INTCTRLB = TC_CCCINTLVL_OFF_gc ; }
ISR(TCE0_CCD_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; THIRD_LAYER_TIMER.INTCTRLB = TC_CCDINTLVL_OFF_gc ; }
//----------------------------------------------------- Timer TCFO Interrupt ISR-------------------------------------
ISR(TCF0_CCA_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; FORTH_LAYER_TIMER.INTCTRLB = TC_CCAINTLVL_OFF_gc ; }
ISR(TCF0_CCB_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; FORTH_LAYER_TIMER.INTCTRLB = TC_CCBINTLVL_OFF_gc ; }
ISR(TCF0_CCC_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; FORTH_LAYER_TIMER.INTCTRLB = TC_CCCINTLVL_OFF_gc ; }
ISR(TCF0_CCD_vect) { if(!sonarEchoFlag) sonarEchoFlag = true ; FORTH_LAYER_TIMER.INTCTRLB = TC_CCDINTLVL_OFF_gc ; }
ISR(TCC1_OVF_vect) { sonarTimeoutFlag = true; TIME_OUT_TIMER.CTRLA=(TIME_OUT_TIMER.CTRLA & (~TC1_CLKSEL_gm)) | TC_CLKSEL_OFF_gc;}i dont know if i can dynamically change the input (source) of event channel, i get some wrong data i some times get value from disconnected sensor, so i need your experince to ensure the validation of this approach
