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slaver.c
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//*****************************************************************************
//
// timers.c - Timers example.
//
// Copyright (c) 2013-2017 Texas Instruments Incorporated. All rights reserved.
// Software License Agreement
//
// Texas Instruments (TI) is supplying this software for use solely and
// exclusively on TI's microcontroller products. The software is owned by
// TI and/or its suppliers, and is protected under applicable copyright
// laws. You may not combine this software with "viral" open-source
// software in order to form a larger program.
//
// THIS SOFTWARE IS PROVIDED "AS IS" AND WITH ALL FAULTS.
// NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT
// NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. TI SHALL NOT, UNDER ANY
// CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
// DAMAGES, FOR ANY REASON WHATSOEVER.
//
// This is part of revision 2.1.4.178 of the EK-TM4C1294XL Firmware Package.
//
//*****************************************************************************
#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <stdlib.h>
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "driverlib/debug.h"
#include "driverlib/fpu.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/rom_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/timer.h"
#include "driverlib/uart.h"
#include "driverlib/pwm.h"
#include "driverlib/adc.h"
#include "driverlib/systick.h"
#include "utils/uartstdio.h"
#include "system.h"
#include "motor.h"
#include "sensor.h"
#include "rfid.h"
#include "rfid.h"
#include "zigbee.h"
#include "t6963c.h"
#include "batterysensor.h"
#include "config.h"
#include "modbus-rtu.h"
//*****************************************************************************
//
//! \addtogroup example_list
//! <h1>Timer (timers)</h1>
//!
//! This example application demonstrates the use of the timers to generate
//! periodic interrupts. One timer is set up to interrupt once per second and
//! the other to interrupt twice per second; each interrupt handler will toggle
//! its own indicator throught the UART.
//!
//! UART0, connected to the Virtual Serial Port and running at 115,200, 8-N-1,
//! is used to display messages from this application.
//
//*****************************************************************************
//****************************************************************************
//
// System clock rate in Hz.
//
//****************************************************************************
char ZIGBEE_ID;
/*
* [WARNING] System defination
*
*/
uint32_t g_ui32CPUUsage;
uint32_t g_ui32Seconds;
uint32_t g_ui32SysClock;
uint8_t g_UART3RX1[UARTRX_BUFFER_SIZE];
uint8_t g_UART3RX2[UARTRX_BUFFER_SIZE];
uint8_t g_UART2RX1[UART2RX_BUFFER_SIZE];
uint8_t g_UART2RX2[UART2RX_BUFFER_SIZE];
//*****************************************************************************
//
// This example application demonstrates the use of the timers to generate
// periodic interrupts.
//
//*****************************************************************************
uint8_t sensor1[8];
uint8_t senso = 0;
int8_t xa = 0;
int32_t phai = 0;
int32_t trai = 0;
int den = 0;
int chieu = 1;
int loi = 0;
int loi1 = 1;
int loi2 = 0;
int loi10 = 1;
int dung = 1;
int di = 0;
int hienthi = 1;
int nan_ha = 0;
int tram0 = 0;
int tram1 = 1;
int boqua = 1;
int thongbao = 0;
int32_t time = 0;
int32_t speed = 10;
uint8_t ROBOT_STATE = 0;
uint32_t tocdo = 900; // toc do robot max 600
uint32_t biengiamtoc = 3; // gia tri giam toc
uint32_t bientantoc = 5000; // gia tri tan toc
uint32_t tocdogiam = 300; // tang giam thoi gian cham dan
uint8_t tocdotan = 10; // tang giam thoi gian nhah dan
int i;
int ht_tram1 = 1;
int ht_tram0 = 1;
int binh = 1;
int xuong = 1;
// 0 1 2 3 4 5 6 7
//int32_t cap[8] = { 4500, 100, 200, 250, 390, 520, 690, 700 };
//int32_t cap[8] = { 5000, 200, 500, 1000, 1800, 2900, 3300, 4000 };
int32_t cap[8] = { 6000, 400, 900, 1500, 2300, 3200, 4300, 5500 };
//int32_t cap[8] = { 4500, 200, 500, 900, 1500, 2000, 2600, 3400 };
void runsenso2(void);
void stop1(void);
void dithang(void);
uint16_t data[10];
int8_t zigbeesentpackage[BUFFER_SIZE];
uint32_t rfid_location;
/*
*
*/
// REGISTER 0 => Respond (Report cho Master)
// REGISTER 1 => Requested (Server yeu cau di den tram)
/*
*
*/
uint32_t adcvalue[12];
//////////////reset khi treo////////////////////////
//ROM_WatchdogEnable(WATCHDOG0_BASE);
/////////////////////////////////////////////
void main(void)
{
init();
ROM_IntMasterDisable();
if (STATE == 0) {
MotorInit();
GPDSensorInit();
LineSensorInit();
rfidInit();
zigbeeInit(1, UART3_BASE);
ADCInit();
GLCD_Initalize();
STATE = 1;
}
ROM_IntMasterEnable();
//
// Enable processor interrupts.
//
ROM_TimerEnable(TIMER0_BASE, TIMER_A);
ROM_TimerEnable(TIMER1_BASE, TIMER_A);
ROM_TimerEnable(TIMER3_BASE, TIMER_A);
SysCtlDelay(g_ui32SysClock / 1000);
GLCDPrintfNormal(0, 0, " ----- ROBOTIC AGV -----");
GLCDPrintfNormal(0, 3, "Err : 0 ");
// GLCDPrintfNormal(0, 2, "Batery: %d (volt) ", adcvalue / 124);
// Loop forever while the timers run.
// ROM_TimerEnable(TIMER0_BASE, TIMER_A);
// MotorController(4000, 4000);
UARTprintf("robot 0k \n");
dung = 1;
while (1) {
// UARTprintf("Batery %d \n",adcvalue[0]);
// SysCtlDelay(g_ui32SysClock / 10000);
//////////////////////////////////////////////////////
if (binh == 1) {
GLCDPrintfNormal(5, 1, "%d", ROBOTRX_Buffer[0]);
ADCGet(adcvalue);
if (adcvalue[0] / 124 < 20) {
GLCDPrintfNormal(0, 2, "Batery low : %2d (volt) ",
adcvalue[0] / 124);
} else {
GLCDPrintfNormal(0, 2, "Batery high: %2d (volt) ",
adcvalue[0] / 124); /// 124
}
binh = 0;
}
///////////////////////////////////////////////////
if (loi2 == 0) {
if (loi1 != loi) {
//GLCDPrintfNormal(0, 3, "Err : %d ", loi);
switch (loi) {
case 1:
GLCDPrintfNormal(0, 3, "Err : forewarning 1");
break;
case 2:
GLCDPrintfNormal(0, 3, "Err : forewarning 2");
break;
case 3:
GLCDPrintfNormal(0, 3, "Err : forewarning 3");
break;
case 4:
GLCDPrintfNormal(0, 3, "Err : forewarning 4");
break;
case 5:
GLCDPrintfNormal(0, 3, "Err : forewarning 5");
break;
case 9:
GLCDPrintfNormal(0, 3, "Err : accident ");
break;
case 0:
GLCDPrintfNormal(0, 3, "Err : 0 ");
break;
}
loi1 = loi;
loi10 = 1;
}
} else {
if (loi10 == 1) {
GLCDPrintfNormal(0, 3, "Err : no line ");
loi10 = 0;
}
}
///////////////////////////////////////////////////
if (hienthi == 1) {
hienthi = 0;
if (dung == 1) {
GLCDPrintfNormal(0, 4, "Robot : ready ");
} else {
GLCDPrintfNormal(0, 4, "Robot :stop ");
}
}
if (ht_tram1 == 1) {
GLCDPrintfNormal(0, 5, "Requesting Station: %d ", tram1);
ht_tram1 = 0;
}
if (ht_tram0 == 1) {
GLCDPrintfNormal(0, 6, "Current Station: %d ", tram0);
ht_tram0 = 0;
}
//////////////////// nan ha khay //////////////////////////
if (tram1 == tram0) {
if (nan_ha == 1 && tram0 == 5) {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_PIN_0);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, 0);
xuong = 0;
} else {
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, 0);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_PIN_4);
xuong = 1;
}
} else {
nan_ha = 0;
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, 0);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_PIN_4);
}
////////////////////////////////////////////////////////////
}
}
//*****************************************************************************
//
// System Interupt Handler
//
//*****************************************************************************
//*****************************************************************************
//
// The error routine that is called if the driver library encounters an error.
//
//*****************************************************************************
#ifdef DEBUG
void
__error__(char *pcFilename, uint32_t ui32Line)
{
}
#endif
void PORTJIntHandler(void) {
uint32_t PortFmask = GPIOIntStatus(GPIO_PORTJ_BASE,
GPIO_PIN_0 | GPIO_PIN_1);
if (di == 1 && loi == 0) {
if (PortFmask & GPIO_PIN_0) {
/////////////////////////////////////////////////////////////////////////////////////////////
UARTprintf("\n test loi");
// loi = 1;
// time = 0;
/////////////////////////////////////////////////////////////////////////////////////////////
SysCtlDelay(SysCtlClockGet() / 200);
GPIOIntClear(GPIO_PORTJ_BASE, GPIO_PIN_0);
}
if (PortFmask & GPIO_PIN_1) {
/////////////////////////////////////////////////////////////////////////////////////////////
// UARTprintf("\n ha xuong !");
/////////////////////////////////////////////////////////////////////////////////////////////
SysCtlDelay(SysCtlClockGet() / 200);
GPIOIntClear(GPIO_PORTJ_BASE, GPIO_PIN_1);
}
} else {
GPIOIntClear(GPIO_PORTJ_BASE, GPIO_PIN_0);
}
}
//*****************************************************************************
//
// The interrupt handler for the first timer interrupt.
//
//*****************************************************************************
void Timer0IntHandler(void) {
////////////////////////////////////////////
if (tram1 == tram0) {
stop1();
} else {
if (boqua == 1) {
if (GPIOPinRead(GPIO_PORTC_BASE, GPIO_PIN_6) == 64) {
loi = 1;
time = 0;
}
////////////
if (
GPIOPinRead(GPIO_PORTC_BASE, GPIO_PIN_7) == 128) {
loi = 2;
time = 0;
}
if (
GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_0) == 1) {
loi = 3;
time = 0;
}
if (
GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_3) == 8) {
loi = 4;
time = 0;
}
if (
GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_2) == 4) {
loi = 5;
time = 0;
}
}
if (GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_1) == 2) {
loi = 9;
dung = 0;
hienthi = 1;
time = 0;
}
dithang();
}
//////////////////////////////////////////////
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
}
//*****************************************************************************
//
// The interrupt handler for the second timer interrupt.
//
//*****************************************************************************
void Timer1IntHandler(void) {
//ADCGet(&adcvalue);
//
// Clear the timer interrupt. ///////7170BC2 // F3E0BA2
/////0DA9BB2 // EB88975
//
//UARTprintf("Timer1IntHandler \n");
if (RFID_ID[0] == ':') {
binh = 1;
// UARTprintf("RFID ID%s\n", RFID_ID);
if (strcmp(RFID_ID, ":1507A88") == 0) {
UARTprintf("da toi tram 1\n");
ROBOTTX_Buffer[0] = 1;
tram0 = 1;
ht_tram0 = 1;
} else if (strcmp(RFID_ID, ":C4D1060") == 0) {
UARTprintf("da toi tram 2\n");
ROBOTTX_Buffer[0] = 2;
tram0 = 2;
ht_tram0 = 1;
} else if (strcmp(RFID_ID, ":C41EBE0") == 0) {
UARTprintf("da toi tram 3\n");
tram0 = 3;
ht_tram0 = 1;
ROBOTTX_Buffer[0] = 3;
} else if (strcmp(RFID_ID, ":C42A510") == 0) {
UARTprintf("da toi tram 4\n");
ROBOTTX_Buffer[0] = 4;
tram0 = 4;
ht_tram0 = 1;
} else if (strcmp(RFID_ID, ":C476220") == 0) {
ROBOTTX_Buffer[0] = 5;
ht_tram0 = 1;
UARTprintf("da toi tram 5\n");
tram0 = 5;
} else if (strcmp(RFID_ID, ":7170BC2") == 0 || strcmp(RFID_ID, ":F3E0BA2") == 0) {
bientantoc = 4000;
boqua = 0;
} else if ( strcmp(RFID_ID, ":0DA9BB2") == 0 ||strcmp(RFID_ID, ":EB88975") == 0 ) {
bientantoc = 10000;
boqua = 1;
}
//////////////////////////////////////////////////////////////////////
else if (strcmp(RFID_ID, ":D395925") == 0
//|| strcmp(RFID_ID, ":EB88975") == 0
|| strcmp(RFID_ID, ":38C3BB2") == 0
|| strcmp(RFID_ID, ":28AAB02") == 0
|| strcmp(RFID_ID, ":FB1D935") == 0
|| strcmp(RFID_ID, ":B40D935") == 0
|| strcmp(RFID_ID, ":50E7925") == 0
|| strcmp(RFID_ID, ":5CC2925") == 0
|| strcmp(RFID_ID, ":5070925") == 0) //1
{
UARTprintf("tang toc \n");
bientantoc = 10000;
}
///// //////////// giam toc /////////////////////////
else if (strcmp(RFID_ID, ":5D99925") == 0
|| strcmp(RFID_ID, ":F636925") == 0
|| strcmp(RFID_ID, ":65EB925") == 0
|| strcmp(RFID_ID, ":62C4BA2") == 0
|| strcmp(RFID_ID, ":EB84BB2") == 0
|| strcmp(RFID_ID, ":EFAABB2") == 0
// || strcmp(RFID_ID, ":F3E0BA2") == 0
|| strcmp(RFID_ID, ":1BC7BB2") == 0
|| strcmp(RFID_ID, ":4DEBBB2") == 0) //1
{
UARTprintf("giam toc \n");
bientantoc = 4000;
}
//////////////////////////////////////////////////////////////////////
else {
UARTprintf("ERROR: Unknown RFID %s ????\n", RFID_ID);
}
RFID_ID[0] = 0;
}
rfid_location = tram0;
ROM_TimerIntClear(TIMER1_BASE, TIMER_TIMA_TIMEOUT);
}
//*****************************************************************************
//
// The interrupt handler for the second timer interrupt.
//
//*****************************************************************************
void Timer3IntHandler(void) {
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER3_BASE, TIMER_TIMA_TIMEOUT);
if (1) {
if (ROBOTRX_Buffer[0] > 0) {
ht_tram0 = 1;
// UARTprintf("Received location: %d\n", ROBOTRX_Buffer[5]);
if (ROBOTRX_Buffer[0] == 6 && tram1 != 4) {
tram1 = 4;
tram0 = 0;
dung = 1;
ht_tram1 = 1;
UARTprintf("di tram 4\n");
}
if (ROBOTRX_Buffer[0] == 1 && tram1 != 1) {
tram1 = 1;
tram0 = 0;
dung = 1;
ht_tram1 = 1;
UARTprintf("di tram 1\n");
}
// if (ROBOTRX_Buffer[0] == 2 && tram1 != 2)
// {
// tram1 = 2;
// tram0 = 0;
//
// loi = 0;
// ht_tram1 = 1;
// UARTprintf("di tram 2\n");
// }
if (ROBOTRX_Buffer[0] == 3 && tram1 != 3) {
tram1 = 3;
tram0 = 0;
dung = 1;
loi = 0;
ht_tram1 = 1;
UARTprintf("di tram 3\n");
}
if (ROBOTRX_Buffer[0] == 4 && tram1 != 4) {
tram1 = 4;
tram0 = 0;
ht_tram1 = 1;
UARTprintf("di tram 4\n");
}
if (ROBOTRX_Buffer[0] == 5 && tram1 != 5) {
tram1 = 5;
tram0 = 0;
dung = 1;
loi = 0;
ht_tram1 = 1;
UARTprintf("di tram 5\n");
}
// if (ROBOTRX_Buffer[0] == 6 && dung != 1)
// {
//
//
// dung = 1;
// hienthi = 1;
//
// UARTprintf("run\n");
// }
if (ROBOTRX_Buffer[0] == 7 && tram1 != 1) {
tram1 = 1;
tram0 = 0;
dung = 1;
ht_tram1 = 1;
UARTprintf("di tram 1\n");
UARTprintf("stop\n");
}
if (ROBOTRX_Buffer[0] == 8 && nan_ha == 0) {
nan_ha = 1;
UARTprintf("nan\n");
}
if (ROBOTRX_Buffer[0] == 9 && nan_ha == 1) {
nan_ha = 0;
UARTprintf("nan\n");
}
// if (ROBOTRX_Buffer[0] == )
// {
// // ROM_TimerDisable(TIMER0_BASE, TIMER_A);
// dung = 0;
//
// UARTprintf("stop\n");
// }
}
} else {
UARTprintf("[WARNING] Robot in processing!!!\n");
}
}
//*****************************************************************************
//
// The interrupt handler for the second timer interrupt.
//
//*****************************************************************************
//*****************************************************************************
//
// The interrupt handler for the second timer interrupt.
//
//*****************************************************************************
void PORTBIntHandler(void) {
uint32_t PortBmask = GPIOIntStatus(GPIO_PORTB_BASE,
GPIO_PIN_2 | GPIO_PIN_3);
SysCtlDelay(SysCtlClockGet() / 100);
hienthi = 1;
if (PortBmask & GPIO_PIN_2) {
/////////////////////////////////////////////////////////////////////////////////////////////
UARTprintf("\n run!");
dung = 1;
loi = 0;
/////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet() / 100);
GPIOIntClear(GPIO_PORTB_BASE, GPIO_PIN_2);
}
if (PortBmask & GPIO_PIN_3) {
/////////////////////////////////////////////////////////////////////////////////////////////
UARTprintf("\n stop !");
dung = 0;
/////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet()/ 100);
GPIOIntClear(GPIO_PORTB_BASE, GPIO_PIN_3);
}
}
//*****************************************************************************
//
// The interrupt handler for the second timer interrupt.
//
//*****************************************************************************
void PORTCIntHandler(void) {
// uint32_t PortCmask = GPIOIntStatus(
// GPIO_PORTC_BASE, GPIO_PIN_6 | GPIO_PIN_7);
// if (di == 1 && loi == 0)
// {
// SysCtlDelay(SysCtlClockGet() / 500);
// if (PortCmask & GPIO_PIN_6)
// {
// /////////////////////////////////////////////////////////////////////////////////////////////
//
// UARTprintf("\n vat can xa 3 !");
// loi = 3;
// time = 0;
// UARTprintf("\n ma loi: %d", loi);
// /////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet() / 1000);
// GPIOIntClear(GPIO_PORTC_BASE, GPIO_PIN_6);
// }
// if (PortCmask & GPIO_PIN_7)
// {
// /////////////////////////////////////////////////////////////////////////////////////////////
// UARTprintf("\n vat can xa 4 !");
// loi = 4;
// time = 0;
// UARTprintf("\n ma loi: %d", loi);
// /////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet() / 1000);
// GPIOIntClear(GPIO_PORTC_BASE, GPIO_PIN_7);
// }
// }
// else
// {
// GPIOIntClear(GPIO_PORTC_BASE, GPIO_PIN_7);
// GPIOIntClear(GPIO_PORTC_BASE, GPIO_PIN_6);
//
// }
///////////////////
GPIOIntClear(GPIO_PORTC_BASE, GPIO_PIN_7);
GPIOIntClear(GPIO_PORTC_BASE, GPIO_PIN_6);
}
void PORTHIntHandler(void) {
// uint32_t PortHmask = GPIOIntStatus(
// GPIO_PORTH_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
// if (di == 1 && loi == 0 )
// {
// SysCtlDelay(SysCtlClockGet() / 500);
// if (PortHmask & GPIO_PIN_0)
// {
// /////////////////////////////////////////////////////////////////////////////////////////////
// UARTprintf("\n vat can xa 5 !");
// loi = 5;
// time = 0;
// UARTprintf("\n ma loi: %d", loi);
// /////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet() / 10000);
// GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_0);
// }
// if (PortHmask & GPIO_PIN_1)
// {
// /////////////////////////////////////////////////////////////////////////////////////////////
// UARTprintf("\n vat can xa 6!");
// loi = 9;
// dung = 0;
// UARTprintf("\n ma loi: %d", loi);
// /////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet() / 10000);
// GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_1);
// }
// if (PortHmask & GPIO_PIN_2)
// {
// /////////////////////////////////////////////////////////////////////////////////////////////
// UARTprintf("\n vat can xa 2 !");
// loi = 2;
// time = 0;
// UARTprintf("\n ma loi: %d", loi);
// /////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet() / 10000);
// GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_2);
// }
// if (PortHmask & GPIO_PIN_3)
// {
// /////////////////////////////////////////////////////////////////////////////////////////////
// UARTprintf("\n vat can xa 1 !");
// loi = 1;
// time = 0;
// UARTprintf("\n ma loi: %d", loi);
// /////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet() / 10000);
// GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_3);
// }
// }
// else
// {
// GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_3);
// GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_2);
// GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_0);
//
// }
// if (PortHmask & GPIO_PIN_1)
// {
// /////////////////////////////////////////////////////////////////////////////////////////////
// UARTprintf("\n vat can xa 6!");
// loi = 9;
// dung = 0;
// UARTprintf("\n ma loi: %d", loi);
// /////////////////////////////////////////////////////////////////////////////////////////////
// SysCtlDelay(SysCtlClockGet() / 10000);
// GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_1);
// }
/////////////////////////////////////
GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_3);
GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_2);
GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_0);
GPIOIntClear(GPIO_PORTH_BASE, GPIO_PIN_1);
}
//*****************************************************************************
//
// The interrupt handler for the second timer interrupt.
//
//*****************************************************************************
//void
//Timer4IntHandler(void)
//{
// //
// // Clear the timer interrupt.
// //
// ROM_TimerIntClear(TIMER4_BASE, TIMER_TIMA_TIMEOUT);
//}
//*****************************************************************************
//
// The interrupt handler for the second timer interrupt.
//
//*****************************************************************************
void Timer5IntHandler(void) {
//
// Clear the timer interrupt.
//
ROM_TimerIntClear(TIMER5_BASE, TIMER_TIMA_TIMEOUT);
}
// Vector Rx/Tx UART0 from PC
void UART0IntHandler(void) {
UARTIntClear(UART0_BASE, UART_INT_RX);
while (UARTCharsAvail(UART0_BASE)) {
switch (UARTCharGet(UART0_BASE)) {
case 'a':
UARTprintf("\n stop robot !");
dung = 0;
hienthi = 1;
// loi = 1;
break;
case 'd':
UARTprintf("\n run!");
dung = 1;
hienthi = 1;
loi = 0;
break;
case 'w':
UARTprintf("\n nan len");
nan_ha = 1;
break;
case 's':
UARTprintf("\n ha xuong");
nan_ha = 0;
break;
case '1':
ROBOTTX_Buffer[0] = 1;
break;
case '2':
ROBOTTX_Buffer[0] = 2;
break;
case '3':
ROBOTTX_Buffer[0] = 3;
break;
case '4':
ROBOTTX_Buffer[0] = 4;
break;
default:
UARTprintf("Unknow\n");
break;
}
}
}
void stop1(void) {
// UARTprintf("\n giam: %d", biengiamtoc);
di = 0;
den = 0;
if (biengiamtoc > 2000) {
biengiamtoc = biengiamtoc - tocdogiam;
tocdo = biengiamtoc;
} else {
biengiamtoc = 3;
}
MotorController(biengiamtoc, biengiamtoc);
}
void dithang(void) {
if (dung == 1) {
if (loi == 0) {
runsenso2();
den = 1;
di = 1;
} else {
stop1();
time = time + 1;
//UARTprintf("\n time: %d", time);
if (time >= 300) {
loi = 0;
}
// } else {
// if (GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_0) == 0
// || GPIOPinRead(GPIO_PORTC_BASE, GPIO_PIN_6) == 64
// || GPIOPinRead(GPIO_PORTC_BASE, GPIO_PIN_7) == 128
// || GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_0) == 1
// || GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_1) == 2
// || GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_2) == 4
// || GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_3) == 8) {
//
//// UARTprintf("\n c6= %d",
//// GPIOPinRead(GPIO_PORTC_BASE, GPIO_PIN_6));
//// UARTprintf("\n c7= %d",
//// GPIOPinRead(GPIO_PORTC_BASE, GPIO_PIN_7));
//// UARTprintf("\n h0= %d",
//// GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_0));
//// UARTprintf("\n h1= %d",
//// GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_1));
//// UARTprintf("\n h2= %d",
//// GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_2));
//// UARTprintf("\n h3= %d",
//// GPIOPinRead(GPIO_PORTH_BASE, GPIO_PIN_3));
// time = 0;
// }
// }
}
} else {
den = 0;
trai = 3;
phai = 3;
MotorController(trai, phai);
tocdo = 100;
}
}
void runsenso2(void) {
senso = GPIOPinRead(GPIO_PORTM_BASE, 0xff);
unsigned short mask = 128;
for (i = 0; i < 8; i++) {
if (senso & mask) {
// UARTprintf("1");
sensor1[i] = 1;
} else {
// UARTprintf("0");
sensor1[i] = 0;
}
mask >>= 1;
}
if (tocdo >= bientantoc) {
// tocdo = 5500;
tocdo = tocdo - 300;
//tocdo = bientantoc;
}
// UARTprintf("\n");
// UARTprintf("%d %d %d %d %d %d %d %d",);
//SysCtlDelay(SysCtlClockGet() / 1000);
////////////////////////////
// UARTprintf("\n td: %d", tocdo);
// tocdo = tocdo + tocdotan;
// biengiamtoc = tocdo;
/////////////////////////////////
if (sensor1[3] == 1 && sensor1[4] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo;
trai = tocdo;
} else {
if (sensor1[2] == 1 && sensor1[3] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo + cap[2];
trai = tocdo - cap[2];
loi2 = 0;
} else {
if (sensor1[1] == 1 && sensor1[2] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo + cap[4];
trai = tocdo - cap[4];
} else {
if (sensor1[0] == 1 && sensor1[1] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo + cap[6];
trai = tocdo - cap[6];
} else {
if (sensor1[3] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo + cap[1];
trai = tocdo - cap[1];
}
if (sensor1[2] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo + cap[3];
trai = tocdo - cap[3];
}
if (sensor1[1] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo + cap[5];
trai = tocdo - cap[5];
}
if (sensor1[0] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo + cap[7];
trai = tocdo - cap[7];
}
}
}
}
////////////////////////////////////////
if (sensor1[4] == 1 && sensor1[5] == 1) {
tocdo = tocdo + tocdotan;
biengiamtoc = tocdo;
phai = tocdo - cap[2];
trai = tocdo + cap[2];
} else {