2 * Copyright Droids Corporation (2010)
3 * Olivier Matz <zer0@droids-corp.org>
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this program; if not, write to the Free Software
17 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 * Revision : $Id: main.c,v 1.8 2009-05-02 10:08:09 zer0 Exp $
26 #include <aversive/wait.h>
33 #include <vect_base.h>
38 #include "uart_proto.h"
41 #include "board2006.h"
42 //#include "board2010.h"
44 /******************* TSOP */
46 struct detected_frame {
67 #define FRAME_RING_ORDER 4
68 #define FRAME_RING_SIZE (1<<FRAME_RING_ORDER)
69 #define FRAME_RING_MASK (FRAME_RING_SIZE-1)
72 struct detected_frame ring[FRAME_RING_SIZE];
75 static struct frame_status static_beacon;
76 static struct frame_status opp_beacon;
77 static uint16_t tick = 0;
80 #define MAX_DIST 3500.
82 /* in ticks (=CS_PERIOD), age before the entry is removed from ring */
83 #define MAX_CAP_AGE 30
85 /********************** CS */
87 /* 8ms, easier if it's a pow of 2 */
88 #define CS_PERIOD_US (8192)
89 #define CS_PERIOD ((uint16_t)(CS_PERIOD_US*2))
90 #define CPT_ICR_MAX (uint8_t)((1000000UL/(uint32_t)CS_PERIOD_US)) /* too slow = 1 tr/s */
91 #define CPT_ICR_MIN (uint8_t)((10000UL/(uint32_t)CS_PERIOD_US)) /* too fast = 100 tr/s */
94 #define CS_CONSIGN (10 * 1000L)
96 /* 5% tolerance to validate captures, period is in */
97 #define TIM3_UNIT 250000000L
98 #define MOTOR_PERIOD_MIN ((uint32_t)((250000000L/CS_CONSIGN) * 0.95))
99 #define MOTOR_PERIOD_MAX ((uint32_t)((250000000L/CS_CONSIGN) * 1.05))
102 * - clear on timer compare (CTC)
103 * - Toggle OC0 on compare match
105 #define LASER_ON() do { TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00); } while (0)
106 #define LASER_OFF() do { TCCR0 = 0; } while (0)
108 struct beacon_tsop beacon_tsop;
110 static uint32_t current_motor_period;
112 void debug_serial(void)
117 c = uart_recv_nowait(0);
119 printf("%c", (char)(c+1));
128 void debug_tsop(void)
142 /* val is 16 bits, including 4 bits-cksum in MSB, return 0xFFFF is
143 * cksum is wrong, or the 12 bits value on success. */
144 static uint16_t verify_cksum(uint16_t val)
149 /* add the four 4-bits blocks of val together */
153 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
156 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
159 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
162 return 0xffff; /* wrong cksum */
165 static inline void decode_frame(struct frame_status *status,
166 uint16_t ref_time, uint16_t cur_time, uint8_t cur_tsop)
168 uint16_t diff_time = cur_time - status->prev_time;
170 /* first rising edge */
171 if (status->len == 0 && cur_tsop && diff_time > status->time_long) {
175 status->start_time = cur_time;
176 status->ref_time = ref_time;
180 else if (status->len != 0 && diff_time < status->time_short) {
181 if (status->len & 1) {
183 status->frame |= status->mask;
189 else if (status->len != 0 && diff_time < status->time_long) {
190 status->val = !status->val;
192 status->frame |= status->mask;
196 /* error case, reset */
202 if (status->len == status->frame_len*2) {
203 uint8_t tail_next = (status->tail+1) & FRAME_RING_MASK;
206 frame_mask = (1 << status->frame_len) - 1;
208 if (tail_next != status->head) {
209 status->ring[status->tail].frame = (status->frame & frame_mask);
210 status->ring[status->tail].ref_time = status->ref_time;
211 status->ring[status->tail].time = status->start_time;
212 status->ring[status->tail].tick = tick;
213 status->tail = tail_next;
214 if ((status->led_cpt & 0x7) == 0)
221 status->prev_time = cur_time;
222 status->prev_tsop = cur_tsop;
226 SIGNAL(SIG_TSOP_STA) {
227 static uint8_t running = 0;
236 cur_tsop = TSOP_STA_READ();
238 /* avoid interruption stacking */
249 decode_frame(&static_beacon, ref_time, cur_time, cur_tsop);
255 SIGNAL(SIG_TSOP_OPP) {
256 static uint8_t running = 0;
265 cur_tsop = TSOP_OPP_READ();
267 /* avoid interruption stacking */
278 decode_frame(&opp_beacon, ref_time, cur_time, cur_tsop);
284 static inline int32_t AbS(int32_t x)
292 /* Get the speed of motor (tr / 1000s)
293 * - icr_cpt is the number of CS period between 2 ICR updates
294 * - icr_diff is the difference of ICR values between the ICR updates
295 * (modulo 65536 obviously) */
296 static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff)
298 int32_t best_diff = 65536L;
299 int8_t best_cpt = -2;
303 /* too slow (less than 1 tr/s) */
304 if (icr_cpt > CPT_ICR_MAX)
307 /* too fast (more than 100 tr/s) */
308 if (icr_cpt < CPT_ICR_MIN)
311 /* try to get the real time knowning icr_cpt and icr_diff */
312 for (i=-1; i<2; i++) {
313 diff = ((icr_cpt+i)&3) * 16384L;
314 diff += (icr_diff & 0x3fff);
321 if (AbS(diff) < AbS(best_diff)) {
323 best_cpt = icr_cpt + i;
327 /* real time difference in timer unit (resolution 4us) */
328 diff = (best_cpt * 16384L) + (icr_diff & 0x3fff);
329 current_motor_period = diff; /* save it in global var */
330 return 250000000L/diff;
333 /* process the received frame ring */
334 static void process_sta_ring(struct frame_status *status)
336 uint8_t head, head_next;
337 uint16_t frame, frametick;
342 uint16_t data0, time0, ref_time0;
347 uint16_t data1, time1, ref_time1;
354 /* remove too old captures from the ring */
355 while (status->head != status->tail) {
356 head_next = (status->head+1) & FRAME_RING_MASK;
357 frametick = status->ring[status->head].tick;
358 if ((uint16_t)(tick - frametick) < MAX_CAP_AGE)
360 status->head = head_next;
364 /* after CS, check if we have a new frame in ring */
365 while (head != status->tail) {
366 head_next = (head+1) & FRAME_RING_MASK;
367 frame = status->ring[head].frame;
369 /* ignore bad cksum */
370 if (verify_cksum(frame) == 0xFFFF)
373 beacon_id = (frame >> TSOP_STA_BEACON_ID_SHIFT) & TSOP_STA_BEACON_ID_MASK;
374 if (beacon_id != TSOP_STA_BEACON_ID0 &&
375 beacon_id != TSOP_STA_BEACON_ID1)
378 /* if motor speed is not good, skip values */
379 if (current_motor_period < MOTOR_PERIOD_MIN)
381 if (current_motor_period > MOTOR_PERIOD_MAX)
384 /* display if needed */
385 if (beacon_tsop.debug_frame) {
386 printf("STA ID=%d time=%d\r\n",
387 beacon_id, status->ring[head].time);
390 if (beacon_id == TSOP_STA_BEACON_ID0) {
392 data0 = (frame >> TSOP_STA_FRAME_DATA_SHIFT) & TSOP_STA_FRAME_DATA_MASK;
393 time0 = status->ring[head].time;
394 ref_time0 = status->ring[head].ref_time;
396 else if (beacon_id == TSOP_STA_BEACON_ID1) {
398 data1 = (frame >> TSOP_STA_FRAME_DATA_SHIFT) & TSOP_STA_FRAME_DATA_MASK;
399 time1 = status->ring[head].time;
400 ref_time1 = status->ring[head].ref_time;
406 /* if we didn't found beacon 0 and 1, return */
410 /* update ring head */
416 dist0 *= (MAX_DIST-MIN_DIST);
419 time0 = time0 - ref_time0;
420 angle0 = (double)time0 / (double)current_motor_period;
425 angle0 *= (2 * M_PI);
432 dist1 *= (MAX_DIST-MIN_DIST);
435 time1 = time1 - ref_time1;
436 angle1 = (double)time1 / (double)current_motor_period;
441 angle1 *= (2 * M_PI);
445 if (ad_to_posxya(&pos, &a, 0, &beacon0, &beacon1, angle0, dist0,
449 xmit_static((uint16_t)pos.x, (uint16_t)pos.y, (uint16_t)a);
452 /* process the received frame ring */
453 static void process_opp_ring(struct frame_status *status)
459 uint16_t data, time, ref_time;
463 /* after CS, check if we have a new frame in ring */
464 while (status->head != status->tail) {
465 head_next = (status->head+1) & FRAME_RING_MASK;
466 frame = status->ring[status->head].frame;
468 /* ignore bad cksum */
469 if (verify_cksum(frame) == 0xFFFF)
472 beacon_id = (frame >> TSOP_OPP_BEACON_ID_SHIFT) & TSOP_OPP_BEACON_ID_MASK;
473 if (beacon_id != TSOP_OPP_BEACON_ID)
476 /* if motor speed is not good, skip values */
477 if (current_motor_period < MOTOR_PERIOD_MIN)
479 if (current_motor_period > MOTOR_PERIOD_MAX)
483 data = (frame >> TSOP_OPP_FRAME_DATA_SHIFT) & TSOP_OPP_FRAME_DATA_MASK;
484 time = status->ring[status->head].time;
485 ref_time = status->ring[status->head].ref_time;
487 /* display if needed */
488 if (beacon_tsop.debug_frame) {
489 printf("OPP ID=%d data=%d time=%d\r\n",
491 status->ring[status->head].time);
493 status->head = head_next;
501 dist *= (MAX_DIST-MIN_DIST);
504 time = time - ref_time;
505 angle = (double)time / (double)current_motor_period;
510 angle *= 3600; /* angle in 1/10 deg */
512 xmit_opp((uint16_t)dist, (uint16_t)angle);
517 uint16_t prev_cs = 0;
518 uint16_t prev_icr = 0;
520 uint16_t diff_icr = 0;
523 int32_t speed, out, err;
527 opp_beacon.frame_len = TSOP_OPP_FRAME_LEN;
528 opp_beacon.time_long = TSOP_OPP_TIME_LONG;
529 opp_beacon.time_short = TSOP_OPP_TIME_SHORT;
531 static_beacon.frame_len = TSOP_STA_FRAME_LEN;
532 static_beacon.time_long = TSOP_STA_TIME_LONG;
533 static_beacon.time_short = TSOP_STA_TIME_SHORT;
536 LED1_DDR |= _BV(LED1_BIT);
537 LED2_DDR |= _BV(LED2_BIT);
538 LED3_DDR |= _BV(LED3_BIT);
539 DDRB |= 0x10; /* OC0 (laser pwm) */
542 pid_init(&beacon_tsop.pid);
543 pid_set_gains(&beacon_tsop.pid, 500, 0, 0);
544 pid_set_maximums(&beacon_tsop.pid, 0, 20000, 4095);
545 pid_set_out_shift(&beacon_tsop.pid, 10);
546 pid_set_derivate_filter(&beacon_tsop.pid, 4);
549 fdevopen(uart0_dev_send, uart0_dev_recv);
551 rdline_init(&beacon_tsop.rdl, write_char, valid_buffer, complete_buffer);
552 snprintf(beacon_tsop.prompt, sizeof(beacon_tsop.prompt), "beacon > ");
553 rdline_newline(&beacon_tsop.rdl, beacon_tsop.prompt);
558 /* configure external interrupt for TSOP */
559 EICRx_TSOP |= _BV(ISCx0_TSOP_STA) | _BV(ISCx0_TSOP_OPP);
560 EIMSK |= _BV(INTx_TSOP_STA) | _BV(INTx_TSOP_OPP);
563 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
564 TIMER1_PRESCALER_DIV_1);
565 PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, A, 10, 0, NULL, 0);
568 * - clear on timer compare (CTC)
569 * - Toggle OC0 on compare match
571 TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
572 OCR0 = 80; /* f = 100 khz at 16 Mhz */
574 /* configure timer 3: CLK/64
575 * it is used as a reference time
576 * enable noise canceller for ICP3 */
577 TCCR3B = _BV(ICNC3) | _BV(CS11) | _BV(CS10);
581 /* Control system will be done in main loop */
584 /* process pending bytes on uart */
587 /* monitor the value of ICR (which is modified
588 * automatically on TT rising edge). If the value
589 * changed, process the time difference. */
590 if (ETIFR & _BV(ICF3)) {
597 diff_icr = (icr - prev_icr);
601 speed = get_speed(cpt_icr, diff_icr);
604 /* read time reference */
610 if (tcnt3 - prev_cs < CS_PERIOD)
620 /* process CS... maybe we don't need to use
621 * control_system_manager, just PID is enough */
622 if (cpt == CPT_ICR_MAX)
625 speed = get_speed(cpt_icr, diff_icr);
627 /* enabled laser when rotation speed if at least 5tr/s */
633 err = CS_CONSIGN - speed;
634 out = pid_do_filter(&beacon_tsop.pid, err);
635 if (x == 0 && beacon_tsop.debug_speed)
636 printf("%ld %ld\n", speed, out);
643 pwm_ng_set(&beacon_tsop.pwm_motor, out);
647 /* count the number of CS period between 2 ICR
649 if (cpt < CPT_ICR_MAX)
652 process_sta_ring(&static_beacon);
653 process_opp_ring(&opp_beacon);
655 tick ++; /* global imprecise time reference */