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et:examples:sensor:reflectance_sensor [2023/10/16 23:37] – created heiko.pikneret:examples:sensor:reflectance_sensor [2023/10/17 00:16] (current) – heiko.pikner
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 +<pagebreak>
 +====== Jooneandur ======
  
 +//Vajalikud teadmised: 
 +[HW] [[et:hardware:homelab:digi]], 
 +[AVR] [[et:avr:adc]], \\
 +[LIB] [[et:software:homelab:library:adc]], [LIB] [[et:software:homelab:library:module:lcd_graphic]], [LIB] [[et:software:homelab:library:module:sensor]]//
 +
 +===== Teooria =====
 +
 +ToDo
 +
 +===== Praktika  =====
 +
 +<pagebreak>
 +<code c>
 +// Kodulabori QTR_RC jooneanduri näidisprogramm
 +// Peegeldumise mõõtmise funktsioon on blokeeruv
 +#include <stdio.h>
 +#include <homelab/pin.h>
 +#include <homelab/delay.h>
 +#include <homelab/timer.h>
 +#include <homelab/module/lcd_gfx.h>
 +
 +// Kodulabor III
 +pin pin_rc_in_1 = PIN(B, 2);
 +pin pin_rc_in_2 = PIN(B, 1);
 +pin pin_rc_in_3 = PIN(B, 0);
 +pin pin_rc_in_4 = PIN(A, 7);
 +
 +unsigned short QTR_RC_measure(pin rc_in_pin)
 +{
 +    if(_sys_freq == 2)
 +        Homelab_clock_init();
 +
 +    // Pin setup
 +    pin_setup_output(rc_in_pin);
 +
 +    // Reset timer
 +    TC_ClearOverflowFlag(&TCD1);
 +    TC_Restart(&TCD1);
 +
 +    // Set timer D0 Normal mode
 +    // Top value 9000 (~270cm)
 +    // with clock freq of F_CPU / 64
 +    TC_SetPeriod(&TCD1,20000);
 +    TC1_ConfigClockSource( &TCD1, TC_CLKSEL_DIV1_gc);
 +
 +    // Create trigger pulse
 +    pin_set(rc_in_pin);
 +
 +    // Wait ~10 us
 +    while (TCD1.CNT < 50);
 +
 +    // Reset timer
 +    TC_SetCount(&TCD1,0);
 +
 +    // Wait for echo start
 +    pin_setup_input(rc_in_pin);
 +
 +    while (pin_get_value(rc_in_pin))
 +    {
 +        // Timeout ?
 +        if (TC_GetOverflowFlag(&TCD1))
 +        {
 +            return 0;
 +        }
 +    }
 +
 +    // Convert time to distance:
 +    //   distance = timer * (1 / (F_CPU / 8)) * speed / 2
 +    return (unsigned long)TCD1.CNT;
 +}
 +
 +
 +// Põhiprogramm
 +int main(void)
 +{
 + unsigned short reading_1;
 + unsigned short reading_2;
 + unsigned short reading_3;
 + unsigned short reading_4;
 + char text[16];
 +
 + // LCD ekraani seadistamine
 + lcd_gfx_init();
 + lcd_gfx_clear();
 + lcd_gfx_goto_char_xy(1, 1);
 + lcd_gfx_write_string("Jooneandurid");
 +
 + // Väike paus
 + sw_delay_ms(100);
 +
 +  // Lõputu tsükkel
 + while (1)
 + {
 + // Mõõtmine
 + reading_1 = QTR_RC_measure(pin_rc_in_1);
 + //sw_delay_ms(10);
 + reading_2 = QTR_RC_measure(pin_rc_in_2);
 + //sw_delay_ms(10);
 + reading_3 = QTR_RC_measure(pin_rc_in_3);
 + //sw_delay_ms(10);
 + reading_4 = QTR_RC_measure(pin_rc_in_4);
 +
 + // Mõõtmine õnnestus?
 + if (reading_1 > 0)
 + {
 + // Kauguse tekstiks teisendamine
 + sprintf(text, "%3d     ", reading_1);
 + }
 + // Mõõtmisel tekkis viga?
 + else
 + {
 + // Vea tekst
 + sprintf(text, "Viga    ");
 + }
 +
 + // Teksti kuvamine LCD teise rea alguses
 + lcd_gfx_goto_char_xy(3, 3);
 + lcd_gfx_write_string(text);
 +
 + // Mõõtmine õnnestus?
 + if (reading_2 > 0)
 + {
 + // Kauguse tekstiks teisendamine
 + sprintf(text, "%3d     ", reading_2);
 + }
 + // Mõõtmisel tekkis viga?
 + else
 + {
 + // Vea tekst
 + sprintf(text, "Viga    ");
 + }
 +
 + // Teksti kuvamine LCD teise rea alguses
 + lcd_gfx_goto_char_xy(3, 4);
 + lcd_gfx_write_string(text);
 +
 + // Mõõtmine õnnestus?
 + if (reading_3 > 0)
 + {
 + // Kauguse tekstiks teisendamine
 + sprintf(text, "%3d     ", reading_3);
 + }
 + // Mõõtmisel tekkis viga?
 + else
 + {
 + // Vea tekst
 + sprintf(text, "Viga    ");
 + }
 +
 + // Teksti kuvamine LCD teise rea alguses
 + lcd_gfx_goto_char_xy(3, 5);
 + lcd_gfx_write_string(text);
 +
 + // Mõõtmine õnnestus?
 + if (reading_4 > 0)
 + {
 + // Kauguse tekstiks teisendamine
 + sprintf(text, "%3d     ", reading_4);
 + }
 + // Mõõtmisel tekkis viga?
 + else
 + {
 + // Vea tekst
 + sprintf(text, "Viga    ");
 + }
 +
 + // Teksti kuvamine LCD teise rea alguses
 + lcd_gfx_goto_char_xy(3, 6);
 + lcd_gfx_write_string(text);
 +
 + // Väike paus
 + sw_delay_ms(100);
 + }
 +}
 +
 +</code>
 +/*
 +[[et:examples:sensor:ir_distance:alpha|Koodi näide teksti LCD-le]]
 +===== Lisamaterjalid =====
 +
 +  * {{:examples:sensor:ir_distance:ir_distance.ods|Sharp GP2Y0A21YK anduri graafik}}
 +  * [[http://www.acroname.com/robotics/info/articles/irlinear/irlinear.html|Linearizing Sharp Ranger Data]]
 +
 +*/
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