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--- pm:prj2026:andrei.batasev:dorian.gilca [2026/05/25 09:42]
dorian.gilca
+++ pm:prj2026:andrei.batasev:dorian.gilca [2026/05/25 09:55] (current)
dorian.gilca
@@ Line 22: / Line 22: @@
 **Block Diagram:**
 {{:pm:prj2026:andrei.batasev:schema_bloc.jpg?300|}}
@@ Line 36: / Line 38: @@
 **Electrical Schematic:**
 {{:pm:prj2026:andrei.batasev:schema_electrica.jpg?300|}}
@@ Line 41: / Line 46: @@
 ===== Software Design =====
+<code c>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <util/delay.h>
+#include <stdio.h>
+#define PM_BAUD 9600
+#define TRIG_PIN PC0
+#define ECHO_PIN PC1
+#define LATCH_PIN PB4
+#define CLK_PIN   PD4
+#define EN_PIN    PD7
+#define DATA_PIN  PB0
+#define M1_A 2
+#define M1_B 3
+#define M2_A 1
+#define M2_B 4
+volatile uint16_t timer_val = 0;
+volatile uint8_t echo_done = 0;
+static int _usart0_putchar(char c, FILE *stream) {
+    if (c == '\n') _usart0_putchar('\r', stream);
+    while (!(UCSR0A & (1<<UDRE0)));
+    UDR0 = c;
+    return 0;
+}
+static FILE USART0_stdout = FDEV_SETUP_STREAM(_usart0_putchar, NULL, _FDEV_SETUP_WRITE);
+void usart_init() {
+    UBRR0H = (unsigned char)(103>>8); //br9600
+    UBRR0L = (unsigned char)103;
+    UCSR0B = (1<<RXEN0) | (1<<TXEN0); //act transmisia
+    UCSR0C = (1<<USBS0) | (3<<UCSZ00); //8b
+    stdout = &USART0_stdout;
+}
+void shift_out_data(uint8_t data) {
+    PORTB &= ~(1<<LATCH_PIN);
+    for(int i=0; i<8; i++) { //pt fiecare bit
+        PORTD &= ~(1<<CLK_PIN);
+        if(data & (1 << (7-i))) {
+            PORTB |= (1<<DATA_PIN); //punem val d
+        } else {
+            PORTB &= ~(1<<DATA_PIN);
+        }
+        PORTD |= (1<<CLK_PIN); //ridicam si coboram pin clock
+    }
+    PORTB |= (1<<LATCH_PIN);
+}
+void motors_init() {
+    DDRB |= (1<<LATCH_PIN) | (1<<DATA_PIN) | (1<<PB3);
+    DDRD |= (1<<CLK_PIN) | (1<<EN_PIN) | (1<<PD3);
+    PORTD &= ~(1<<EN_PIN);
+    TCCR2A = (1<<COM2A1) | (1<<COM2B1) | (1<<WGM21) | (1<<WGM20);
+    TCCR2B = (1<<CS22);
+    OCR2A = 0; // punem viteza in registrii
+    OCR2B = 0;
+    shift_out_data(0);
+}
+void set_motor_dir(int m1_fwd, int m1_rev, int m2_fwd, int m2_rev) {
+    uint8_t shift_data = 0;
+    if (m1_fwd) shift_data |= (1<<M1_A);
+    if (m1_rev) shift_data |= (1<<M1_B);
+    if (m2_fwd) shift_data |= (1<<M2_A);
+    if (m2_rev) shift_data |= (1<<M2_B);
+    shift_out_data(shift_data);
+}
+void sonar_init() {
+    DDRC |= (1<<TRIG_PIN); //pc0 output
+    DDRC &= ~(1<<ECHO_PIN);
+    TCCR1A = 0;
+    TCCR1B = (1<<CS11);
+    PCICR |= (1<<PCIE1);
+    PCMSK1 |= (1<<PCINT9);
+}
+ISR(PCINT1_vect) {
+    if (PINC & (1<<ECHO_PIN)) {
+        TCNT1 = 0;
+    } else {
+        timer_val = TCNT1;
+        echo_done = 1;
+    }
+}
+int get_distance() {
+    echo_done = 0;
+    PORTC &= ~(1<<TRIG_PIN);
+    _delay_us(2);
+    PORTC |= (1<<TRIG_PIN);
+    _delay_us(10);
+    PORTC &= ~(1<<TRIG_PIN);
+    uint32_t timeout = 60000;
+    while(!echo_done && timeout > 0) {
+        timeout--;
+    }
+    if(timeout == 0) return 400;
+    return timer_val / 116;
+}
+int map_speed(int x, int in_min, int in_max, int out_min, int out_max) {
+    return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+int main() {
+    usart_init();
+    motors_init();
+    sonar_init();
+    sei();
+    printf("ACC System Bare Metal Started\n");
+    int safe_dist = 25;
+    int max_dist = 85;
+    while(1) {
+        int dist = get_distance();
+        if(dist == 0 || dist > 400) dist = 400;
+        printf("Dist: %d cm\n", dist);
+        if (dist > max_dist) {
+            set_motor_dir(0, 0, 0, 0);
+            OCR2A = 0;
+            OCR2B = 0;
+        } else if (dist > safe_dist) {
+            int speed = map_speed(dist, safe_dist, max_dist, 115, 220);
+            set_motor_dir(1, 0, 1, 0);
+            OCR2A = speed;
+            OCR2B = speed;
+        } else {
+            set_motor_dir(0, 0, 0, 0);
+            OCR2A = 0;
+            OCR2B = 0;
+        }
+        _delay_ms(50);
+    }
+    return 0;
+}
+</code>
 **Development Environment:**
   * VS Code with PlatformIO (using pure C and register-level programming).
@@ Line 72: / Line 238: @@
 ===== Download =====
-//code//
+{{:pm:prj2026:andrei.batasev:dorian_gilca.zip|Project Archive - Source Code and PlatformIO Configuration}}
 ===== Journal =====