2 * Copyright Droids Corporation (2009)
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 $
24 #include <aversive/wait.h>
35 /* beacon identifier: must be odd, 3 bits */
36 #define BEACON_ID_MASK 0x7
37 #define BEACON_ID_SHIFT 0
38 #define FRAME_DATA_MASK 0xFFF8
39 #define FRAME_DATA_SHIFT 3
41 /******************* TSOP */
43 #define EICRx_TSOP EICRB /* EICRA is not ok, cannot do intr on any edge */
45 #define INTx_TSOP INT6
46 #define ISCx0_TSOP ISC60
47 #define ISCx1_TSOP ISC61
48 #define SIG_TSOP SIG_INTERRUPT6
49 #define TSOP_READ() (!(PINE & 0x40))
51 #define INTx_TSOP INT4
52 #define ISCx0_TSOP ISC40
53 #define ISCx1_TSOP ISC41
54 #define SIG_TSOP SIG_INTERRUPT4
55 #define TSOP_READ() (!(PINE & 0x10))
58 //#define MODUL_455KHZ
61 #if (defined MODUL_455KHZ)
62 #define TSOP_FREQ_MHZ 0.455
65 #define TSOP_FREQ_MHZ 0.038
69 #define TSOP_PERIOD_US (1./TSOP_FREQ_MHZ)
71 #define TSOP_TIME_SHORT_US (1.5 * N_PERIODS * TSOP_PERIOD_US)
72 #define TSOP_TIME_LONG_US (2.5 * N_PERIODS * TSOP_PERIOD_US)
74 #define TSOP_TIME_SHORT ((uint16_t)(TSOP_TIME_SHORT_US*2))
75 #define TSOP_TIME_LONG ((uint16_t)(TSOP_TIME_LONG_US*2))
78 #define FRAME_MASK ((1UL << FRAME_LEN) - 1)
81 static uint16_t start_angle_time;
82 static uint16_t frame;
87 struct detected_frame {
92 #define FRAME_RING_ORDER 4
93 #define FRAME_RING_SIZE (1<<FRAME_RING_ORDER)
94 #define FRAME_RING_MASK (FRAME_RING_SIZE-1)
95 static uint8_t frame_ring_head = 0;
96 static uint8_t frame_ring_tail = 0;
97 static struct detected_frame frame_ring[FRAME_RING_SIZE];
99 /********************** CS */
101 /* 8ms, easier if it's a pow of 2 */
102 #define CS_PERIOD_US (8192)
103 #define CS_PERIOD ((uint16_t)(CS_PERIOD_US*2))
104 #define CPT_ICR_MAX (uint8_t)((1000000UL/(uint32_t)CS_PERIOD_US)) /* too slow = 1 tr/s */
105 #define CPT_ICR_MIN (uint8_t)((10000UL/(uint32_t)CS_PERIOD_US)) /* too fast = 100 tr/s */
108 #define CS_CONSIGN (25 * 1000L)
111 * - clear on timer compare (CTC)
112 * - Toggle OC0 on compare match
114 #define LASER_ON() do { TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00); } while (0)
115 #define LASER_OFF() do { TCCR0 = 0; } while (0)
117 struct beacon_tsop beacon_tsop;
119 void debug_serial(void)
124 c = uart_recv_nowait(0);
126 printf("%c", (char)(c+1));
135 void debug_tsop(void)
151 static uint8_t led_cpt = 0;
154 static uint8_t prev_tsop = 0;
158 static uint16_t prev_time;
165 cur_tsop = TSOP_READ();
166 diff_time = cur_time - prev_time;
173 /* first rising edge */
174 if (len == 0 && cur_tsop && diff_time > TSOP_TIME_LONG) {
178 start_angle_time = cur_time - ref_time;
182 else if (len != 0 && diff_time < TSOP_TIME_SHORT) {
191 else if (len != 0 && diff_time < TSOP_TIME_LONG) {
198 /* error case, reset */
204 if (len == FRAME_LEN*2) {
205 uint8_t tail_next = (frame_ring_tail+1) & FRAME_RING_MASK;
206 if (tail_next != frame_ring_head) {
207 frame_ring[frame_ring_tail].frame = (frame & FRAME_MASK);
208 frame_ring[frame_ring_tail].time = start_angle_time;
209 frame_ring_tail = tail_next;
211 if ((led_cpt & 0x7) == 0)
216 prev_time = cur_time;
217 prev_tsop = cur_tsop;
221 static inline int32_t AbS(int32_t x)
229 /* Get the speed of motor (tr / 1000s)
230 * - icr_cpt is the number of CS period between 2 ICR updates
231 * - icr_diff is the difference of ICR values between the ICR updates
232 * (modulo 65536 obviously) */
233 static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff)
235 int32_t best_diff = 65536L;
236 int8_t best_cpt = -2;
240 /* too slow (less than 1 tr/s) */
241 if (icr_cpt > CPT_ICR_MAX)
244 /* too fast (more than 100 tr/s) */
245 if (icr_cpt < CPT_ICR_MIN)
248 /* try to get the real time knowning icr_cpt and icr_diff */
249 for (i=-1; i<2; i++) {
250 diff = ((icr_cpt+i)&3) * 16384L;
251 diff += (icr_diff & 0x3fff);
258 if (AbS(diff) < AbS(best_diff)) {
260 best_cpt = icr_cpt + i;
264 /* real time difference in 1/2 us */
265 diff = (best_cpt * 16384L) + (icr_diff & 0x3fff);
266 return 2000000000L/diff;
271 uint16_t prev_cs = 0;
272 uint16_t prev_icr = 0;
274 uint16_t diff_icr = 0;
277 int32_t speed, out, err;
282 LED1_DDR |= _BV(LED1_BIT);
283 LED2_DDR |= _BV(LED2_BIT);
284 LED3_DDR |= _BV(LED3_BIT);
285 DDRB |= 0x10; /* OC0 (laser pwm) */
288 pid_init(&beacon_tsop.pid);
289 pid_set_gains(&beacon_tsop.pid, 500, 0, 0);
290 pid_set_maximums(&beacon_tsop.pid, 0, 20000, 4095);
291 pid_set_out_shift(&beacon_tsop.pid, 10);
292 pid_set_derivate_filter(&beacon_tsop.pid, 4);
295 fdevopen(uart0_dev_send, uart0_dev_recv);
297 rdline_init(&beacon_tsop.rdl, write_char, valid_buffer, complete_buffer);
298 snprintf(beacon_tsop.prompt, sizeof(beacon_tsop.prompt), "beacon > ");
299 rdline_newline(&beacon_tsop.rdl, beacon_tsop.prompt);
304 /* configure external interrupt for TSOP */
305 EICRx_TSOP |= _BV(ISCx0_TSOP);
306 EIMSK |= _BV(INTx_TSOP);
309 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
310 TIMER1_PRESCALER_DIV_1);
311 PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, A, 10, 0, NULL, 0);
314 * - clear on timer compare (CTC)
315 * - Toggle OC0 on compare match
317 TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
318 OCR0 = 80; /* f = 100 khz at 16 Mhz */
320 /* configure timer 3: CLK/8
321 * it is used as a reference time
322 * enable noise canceller for ICP3 */
323 TCCR3B = _BV(ICNC3) | _BV(CS11);
327 /* Control system will be done in main loop */
330 /* process pending bytes on uart */
333 /* monitor the value of ICR (which is modified
334 * automatically on TT rising edge). If the value
335 * changed, process the time difference. */
336 if (ETIFR & _BV(ICF3)) {
343 diff_icr = (icr - prev_icr);
347 speed = get_speed(cpt_icr, diff_icr);
350 /* read time reference */
356 if (tcnt3 - prev_cs < CS_PERIOD)
366 /* process CS... maybe we don't need to use
367 * control_system_manager, just PID is enough */
368 if (cpt == CPT_ICR_MAX)
371 speed = get_speed(cpt_icr, diff_icr);
373 /* enabled laser when rotation speed if at least 5tr/s */
379 err = CS_CONSIGN - speed;
380 out = pid_do_filter(&beacon_tsop.pid, err);
381 if (x == 0 && beacon_tsop.debug_speed)
382 printf("%ld %ld\n", speed, out);
389 pwm_ng_set(&beacon_tsop.pwm_motor, out);
393 /* count the number of CS period between 2 ICR
395 if (cpt < CPT_ICR_MAX)
398 /* after CS, check if we have a new frame in ring */
399 if (frame_ring_head != frame_ring_tail) {
402 head_next = (frame_ring_head+1) & FRAME_RING_MASK;
403 frame = frame_ring[frame_ring_head].frame;
405 /* display if needed */
406 if (beacon_tsop.debug_frame) {
410 beacon_id = (frame >> BEACON_ID_SHIFT) & BEACON_ID_MASK;
411 data = (frame >> FRAME_DATA_SHIFT) & FRAME_DATA_MASK;
412 printf("ID=%d data=%d time=%d\r\n",
414 frame_ring[frame_ring_head].time);
416 frame_ring_head = head_next;