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sonar.c
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sonar.c
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#include "sonar.h"
void initSonar()
{
ADCON0 = 0b00000100;
ADCON1 = 0b00001110;
ADCON2 = 0b10111010;
ADCON0bits.ADON = 1;
ADCON0bits.GO_NOT_DONE = 1;
}
unsigned int getData()
{
ADCON0bits.GO_NOT_DONE = 1;
while (ADCON0bits.GO_NOT_DONE == 1);
arg1 = (unsigned int)ADRESH << 8;
arg1 += ADRESL;
arg2 = 325;
MULT16();
return res >> 8;
}
unsigned int getFilteredData()
{
unsigned int distance = getData();
unsigned int previousDistance;
unsigned int a = 5;
for (int i = 0; i < 64; ++i) {
previousDistance = distance;
arg1 = getData();
arg2 = a;
MULT16();
distance = res;
arg1 = previousDistance;
arg2 = 127 - a;
MULT16();
distance += res;
distance = distance >> 7;
}
return distance;
}
char* getChar(unsigned int value)
{
char text[4] = {'0', '0', '0', '\0'};
text[0] += value / 100;
text[1] += (value - ((text[0] - '0') * 100)) / 10;
text[2] += value % 10;
return text;
}