1 | #define F_CPU 32000000
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2 | #include <avr/io.h>
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3 | #include "clksys_driver.h"
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4 | #include <asf.h>
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5 |
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6 | #include <stdlib.h>
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7 |
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8 | void clock32M(void);
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9 | void initTimer4AsCapture(void);
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10 | void initTimer5AsCapture(void);
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11 |
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12 |
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13 |
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14 | volatile uint16_t timer4_value = 0;
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15 | volatile uint8_t timer4_Flag = 0;
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16 | volatile uint16_t timer5_value = 0;
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17 | volatile uint8_t timer5_Flag = 0;
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18 |
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19 |
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20 | /*! Channel B Compare or Capture Interrupt
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21 | *
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22 | * This function handles the Channel B Compare or Capture Interrupt
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23 | *
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24 | */
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25 | ISR (TCC4_CCB_vect)
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26 | {
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27 | timer4_Flag = 1;
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28 | timer4_value = TCC4.CCB;
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29 | }
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30 |
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31 |
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32 | /*! Channel B Compare or Capture Interrupt
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33 | *
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34 | * This function handles the Channel B Compare or Capture Interrupt
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35 | *
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36 | */
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37 | ISR (TCC5_CCB_vect)
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38 | {
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39 | timer5_Flag = 1;
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40 | timer5_value = TCC5.CCB;
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41 | }
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42 |
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43 | void initTimer4AsCapture()
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44 | {
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45 | TCC4.PER = 0xFFFF;
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46 |
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47 | TCC4.CTRLA = TC4_SYNCHEN_bm
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48 | | TC4_EVSTART_bm
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49 | | TC45_CLKSEL_DIV64_gc;
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50 |
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51 | TCC4.CTRLD = TC45_EVACT_PWF_gc
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52 | | TC45_EVSEL_CH0_gc;
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53 |
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54 | TCC4.CTRLE = TC45_CCAMODE_CAPT_gc
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55 | | TC45_CCBMODE_CAPT_gc;
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56 |
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57 | TCC4.INTCTRLB = TC45_CCBINTLVL_MED_gc;
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58 |
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59 | PMIC.CTRL |= PMIC_MEDLVLEN_bm;
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60 |
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61 | EVSYS.CH0MUX = EVSYS_CHMUX_PORTA_PIN0_gc;
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62 | }
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63 |
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64 |
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65 | void initTimer5AsCapture()
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66 | {
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67 | TCC5.PER = 0xFFFF;
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68 |
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69 | TCC5.CTRLE = TC45_CCBMODE_CAPT_gc
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70 | | TC45_CCAMODE_CAPT_gc;
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71 |
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72 | TCC5.CTRLD = TC45_EVACT_PWF_gc
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73 | | TC45_EVSEL_CH0_gc;
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74 |
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75 | TCC5.CTRLA = TC5_SYNCHEN_bm
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76 | | TC5_EVSTART_bm
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77 | | TC45_CLKSEL_DIV256_gc;
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78 |
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79 | TCC5.INTCTRLB = TC45_CCBINTLVL_LO_gc;
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80 |
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81 | PMIC.CTRL |= PMIC_LOLVLEN_bm;
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82 |
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83 | EVSYS.CH0MUX = EVSYS_CHMUX_PORTA_PIN0_gc;
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84 | }
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85 |
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86 |
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87 | /*! Clock initial
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88 | *
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89 | * This function initial the 32MHz Clock for the µC
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90 | *
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91 | */
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92 | void clock32M(void)
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93 | {
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94 | /* Enable internal 32 MHz ring oscillator and wait until it's
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95 | * stable. Set the 32 MHz ring oscillator as the main clock source.
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96 | * Then disable the other oscillators.
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97 | */
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98 | CLKSYS_Enable( OSC_RC32MEN_bm );
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99 | do {} while ( CLKSYS_IsReady( OSC_RC32MRDY_bm ) == 0 );
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100 | CLKSYS_Main_ClockSource_Select( CLK_SCLKSEL_RC32M_gc );
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101 | CLKSYS_Disable( OSC_RC2MEN_bm | OSC_RC32KEN_bm );
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102 | }
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103 |
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104 | int main(void)
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105 | {
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106 | long double distance4 = 0;
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107 | long double distance5 = 0;
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108 | uint32_t d4 = 0;
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109 | uint32_t d5 = 0;
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110 | uint8_t count = 0;
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111 | char buf4[5];
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112 | char buf5[5];
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113 |
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114 | cli();
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115 |
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116 | clock32M();
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117 | initTimer4AsCapture();
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118 | initTimer5AsCapture();
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119 |
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120 | sei();
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121 |
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122 | PORTA.DIRSET = PIN1_bm; // Ausgang
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123 | PORTA.DIRCLR = PIN0_bm; // Eingang
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124 |
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125 | PORTA.OUTSET = PIN1_bm;
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126 |
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127 | board_init();
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128 | gfx_mono_init();
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129 |
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130 | _delay_ms(500);
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131 |
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132 | while (true)
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133 | {
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134 |
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135 | PORTA.OUTCLR = PIN1_bm;
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136 | _delay_us(20);
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137 | PORTA.OUTSET = PIN1_bm;
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138 |
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139 | while(!timer4_Flag || !timer5_Flag){}
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140 | timer4_Flag = 0;
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141 | timer5_Flag = 0;
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142 |
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143 | distance4 = ((64*(long double)timer4_value)/64000)*343;
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144 | distance5 = ((256*(long double)timer5_value)/64000)*343;
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145 |
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146 | count ++;
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147 |
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148 | d4 += distance4;
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149 | d5 += distance5;
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150 |
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151 | if (count > 2)
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152 | {
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153 | count = 0;
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154 |
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155 | d4 = d4/3;
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156 | d5 = d5/3;
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157 |
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158 | itoa(d4,buf4,10);
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159 | itoa(d5,buf5,10);
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160 |
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161 | gfx_mono_draw_string(" mm", 0, 0, &sysfont);
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162 | gfx_mono_draw_string(" mm", 0, 10, &sysfont);
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163 | gfx_mono_draw_string(buf4, 0, 0, &sysfont);
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164 | gfx_mono_draw_string(buf5, 0, 10, &sysfont);
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165 | }
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166 |
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167 | _delay_ms(200);
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168 | }
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169 | }
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