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"
46 #include "board2010.h"
48 #include "board2006.h"
51 /******************* TSOP */
53 struct detected_frame {
74 #define FRAME_RING_ORDER 4
75 #define FRAME_RING_SIZE (1<<FRAME_RING_ORDER)
76 #define FRAME_RING_MASK (FRAME_RING_SIZE-1)
79 struct detected_frame ring[FRAME_RING_SIZE];
82 static struct frame_status static_beacon;
83 static struct frame_status opp_beacon;
84 static uint16_t tick = 0;
87 #define MAX_DIST 3500.
89 /* in ticks (=CS_PERIOD), age before the entry is removed from ring */
90 #define MAX_CAP_AGE 30
92 /********************** CS */
94 /* 8ms, easier if it's a pow of 2 */
95 #define CS_PERIOD_US (8192)
96 #define CS_PERIOD ((uint16_t)(CS_PERIOD_US/4))
97 #define CPT_ICR_MAX (uint8_t)((1000000UL/(uint32_t)CS_PERIOD_US)) /* too slow = 1 tr/s */
98 #define CPT_ICR_MIN (uint8_t)((10000UL/(uint32_t)CS_PERIOD_US)) /* too fast = 100 tr/s */
101 #define CS_CONSIGN (15 * 1000L)
103 /* 5% tolerance to validate captures, period is in */
104 #define TIM3_UNIT 250000000L
105 #define MOTOR_PERIOD_MIN ((uint32_t)((250000000L/CS_CONSIGN) * 0.95))
106 #define MOTOR_PERIOD_MAX ((uint32_t)((250000000L/CS_CONSIGN) * 1.05))
109 * - clear on timer compare (CTC)
110 * - Toggle OC0 on compare match
112 #define LASER_ON() do { TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00); } while (0)
113 #define LASER_OFF() do { TCCR0 = 0; } while (0)
115 struct beacon_tsop beacon_tsop;
116 uint32_t cs_consign = CS_CONSIGN;
118 static uint32_t current_motor_period;
120 void debug_serial(void)
125 c = uart_recv_nowait(0);
127 printf("%c", (char)(c+1));
136 void debug_tsop(void)
150 /* val is 16 bits, including 4 bits-cksum in MSB, return 0xFFFF is
151 * cksum is wrong, or the 12 bits value on success. */
152 static uint16_t verify_cksum(uint16_t val)
157 /* add the four 4-bits blocks of val together */
161 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
164 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
167 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
170 return 0xffff; /* wrong cksum */
173 static inline void decode_frame(struct frame_status *status,
174 uint16_t ref_time, uint16_t cur_time, uint8_t cur_tsop)
176 uint16_t diff_time = cur_time - status->prev_time;
178 /* first rising edge */
179 if (status->len == 0 && cur_tsop && diff_time > status->time_long) {
183 status->start_time = cur_time;
184 status->ref_time = ref_time;
188 else if (status->len != 0 && diff_time < status->time_short) {
189 if (status->len & 1) {
191 status->frame |= status->mask;
197 else if (status->len != 0 && diff_time < status->time_long) {
198 status->val = !status->val;
200 status->frame |= status->mask;
204 /* error case, reset */
210 if (status->len == status->frame_len*2) {
211 uint8_t tail_next = (status->tail+1) & FRAME_RING_MASK;
214 frame_mask = (1 << status->frame_len) - 1;
216 if (tail_next != status->head) {
217 status->ring[status->tail].frame = (status->frame & frame_mask);
218 status->ring[status->tail].ref_time = status->ref_time;
219 status->ring[status->tail].time = status->start_time;
220 status->ring[status->tail].tick = tick;
221 status->tail = tail_next;
222 if ((status->led_cpt & 0x7) == 0)
229 status->prev_time = cur_time;
230 status->prev_tsop = cur_tsop;
234 SIGNAL(SIG_TSOP_STA) {
235 static uint8_t running = 0;
244 cur_tsop = TSOP_STA_READ();
246 /* avoid interruption stacking */
257 decode_frame(&static_beacon, ref_time, cur_time, cur_tsop);
263 SIGNAL(SIG_TSOP_OPP) {
264 static uint8_t running = 0;
273 cur_tsop = TSOP_OPP_READ();
275 /* avoid interruption stacking */
286 decode_frame(&opp_beacon, ref_time, cur_time, cur_tsop);
292 static inline int32_t AbS(int32_t x)
300 /* Get the speed of motor (tr / 1000s)
301 * - icr_cpt is the number of CS period between 2 ICR updates
302 * - icr_diff is the difference of ICR values between the ICR updates
303 * (modulo 65536 obviously) */
304 static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff)
307 int32_t best_diff = 65536L;
308 int8_t best_cpt = -2;
312 /* too slow (less than 1 tr/s) */
313 if (icr_cpt > CPT_ICR_MAX)
316 /* too fast (more than 100 tr/s) */
317 if (icr_cpt < CPT_ICR_MIN)
320 /* try to get the real time knowning icr_cpt and icr_diff */
321 for (i=-1; i<2; i++) {
322 diff = ((icr_cpt+i)&3) * 16384L;
323 diff += (icr_diff & 0x3fff);
330 if (AbS(diff) < AbS(best_diff)) {
332 best_cpt = icr_cpt + i;
336 /* real time difference in timer unit (resolution 4us) */
337 diff = (best_cpt * 16384L) + (icr_diff & 0x3fff);
338 current_motor_period = diff; /* save it in global var */
341 /* too slow (less than 1 tr/s) */
342 if (icr_cpt >= CPT_ICR_MAX)
345 /* too fast (more than 100 tr/s) */
346 if (icr_cpt <= CPT_ICR_MIN)
351 return icr_cpt * 8192UL;
353 return TIM3_UNIT/icr_diff;
356 /* process the received frame ring */
357 static void process_sta_ring(struct frame_status *status)
359 uint8_t head, head_next;
360 uint16_t frame, frametick;
365 uint16_t data0, time0, ref_time0;
370 uint16_t data1, time1, ref_time1;
377 /* remove too old captures from the ring */
378 while (status->head != status->tail) {
379 head_next = (status->head+1) & FRAME_RING_MASK;
380 frametick = status->ring[status->head].tick;
381 if ((uint16_t)(tick - frametick) < MAX_CAP_AGE)
383 status->head = head_next;
387 /* after CS, check if we have a new frame in ring */
388 while (head != status->tail) {
389 head_next = (head+1) & FRAME_RING_MASK;
390 frame = status->ring[head].frame;
392 /* ignore bad cksum */
393 if (verify_cksum(frame) == 0xFFFF)
396 beacon_id = (frame >> TSOP_STA_BEACON_ID_SHIFT) & TSOP_STA_BEACON_ID_MASK;
397 if (beacon_id != TSOP_STA_BEACON_ID0 &&
398 beacon_id != TSOP_STA_BEACON_ID1)
401 /* if motor speed is not good, skip values */
402 if (current_motor_period < MOTOR_PERIOD_MIN)
404 if (current_motor_period > MOTOR_PERIOD_MAX)
407 /* display if needed */
408 if (beacon_tsop.debug_frame) {
409 printf("STA ID=%d time=%d\r\n",
410 beacon_id, status->ring[head].time);
413 if (beacon_id == TSOP_STA_BEACON_ID0) {
415 data0 = (frame >> TSOP_STA_FRAME_DATA_SHIFT) & TSOP_STA_FRAME_DATA_MASK;
416 time0 = status->ring[head].time;
417 ref_time0 = status->ring[head].ref_time;
419 else if (beacon_id == TSOP_STA_BEACON_ID1) {
421 data1 = (frame >> TSOP_STA_FRAME_DATA_SHIFT) & TSOP_STA_FRAME_DATA_MASK;
422 time1 = status->ring[head].time;
423 ref_time1 = status->ring[head].ref_time;
429 /* if we didn't found beacon 0 and 1, return */
433 /* update ring head */
439 dist0 *= (MAX_DIST-MIN_DIST);
442 time0 = time0 - ref_time0;
443 angle0 = (double)time0 / (double)current_motor_period;
448 angle0 *= (2 * M_PI);
455 dist1 *= (MAX_DIST-MIN_DIST);
458 time1 = time1 - ref_time1;
459 angle1 = (double)time1 / (double)current_motor_period;
464 angle1 *= (2 * M_PI);
468 if (ad_to_posxya(&pos, &a, 0, &beacon0, &beacon1, angle0, dist0,
472 xmit_static((uint16_t)pos.x, (uint16_t)pos.y, (uint16_t)a);
475 /* process the received frame ring */
476 static void process_opp_ring(struct frame_status *status)
482 uint16_t data, time, ref_time;
486 /* after CS, check if we have a new frame in ring */
487 while (status->head != status->tail) {
488 head_next = (status->head+1) & FRAME_RING_MASK;
489 frame = status->ring[status->head].frame;
491 /* ignore bad cksum */
492 if (verify_cksum(frame) == 0xFFFF)
495 beacon_id = (frame >> TSOP_OPP_BEACON_ID_SHIFT) & TSOP_OPP_BEACON_ID_MASK;
496 if (beacon_id != TSOP_OPP_BEACON_ID)
499 /* if motor speed is not good, skip values */
500 if (current_motor_period < MOTOR_PERIOD_MIN)
502 if (current_motor_period > MOTOR_PERIOD_MAX)
506 data = (frame >> TSOP_OPP_FRAME_DATA_SHIFT) & TSOP_OPP_FRAME_DATA_MASK;
507 time = status->ring[status->head].time;
508 ref_time = status->ring[status->head].ref_time;
510 /* display if needed */
511 if (beacon_tsop.debug_frame) {
512 printf("OPP ID=%d data=%d time=%d\r\n",
514 status->ring[status->head].time);
516 status->head = head_next;
524 dist *= (MAX_DIST-MIN_DIST);
527 time = time - ref_time;
528 angle = (double)time / (double)current_motor_period;
533 angle *= 3600; /* angle in 1/10 deg */
535 xmit_opp((uint16_t)dist, (uint16_t)angle);
540 uint16_t prev_cs = 0;
541 uint16_t prev_icr = 0;
543 uint16_t diff_icr = 0;
546 int32_t speed = 0, out, err;
548 uint8_t x = 0; /* debug display counter */
550 opp_beacon.frame_len = TSOP_OPP_FRAME_LEN;
551 opp_beacon.time_long = TSOP_OPP_TIME_LONG;
552 opp_beacon.time_short = TSOP_OPP_TIME_SHORT;
554 static_beacon.frame_len = TSOP_STA_FRAME_LEN;
555 static_beacon.time_long = TSOP_STA_TIME_LONG;
556 static_beacon.time_short = TSOP_STA_TIME_SHORT;
560 DDRB |= 0x10; /* OC0 (laser pwm) */
563 pid_init(&beacon_tsop.pid);
564 pid_set_gains(&beacon_tsop.pid, 700, 10, 0);
565 pid_set_maximums(&beacon_tsop.pid, 0, 200000, 4095);
566 pid_set_out_shift(&beacon_tsop.pid, 10);
567 pid_set_derivate_filter(&beacon_tsop.pid, 4);
570 #if CMDLINE_UART == 0
571 fdevopen(uart0_dev_send, uart0_dev_recv);
572 #elif CMDLINE_UART == 1
573 fdevopen(uart1_dev_send, uart1_dev_recv);
576 rdline_init(&beacon_tsop.rdl, write_char, valid_buffer, complete_buffer);
577 snprintf(beacon_tsop.prompt, sizeof(beacon_tsop.prompt), "beacon > ");
578 rdline_newline(&beacon_tsop.rdl, beacon_tsop.prompt);
583 /* configure external interrupt for TSOP */
584 EICRx_TSOP |= _BV(ISCx0_TSOP_STA) | _BV(ISCx0_TSOP_OPP);
585 EIMSK |= _BV(INTx_TSOP_STA) | _BV(INTx_TSOP_OPP);
588 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
589 TIMER1_PRESCALER_DIV_1);
591 PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, C, 10, 0, NULL, 0);
593 PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, A, 10, 0, NULL, 0);
597 * - clear on timer compare (CTC)
598 * - Toggle OC0 on compare match
600 TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
601 OCR0 = 18; /* f ~= 420 khz at 16 Mhz */
603 /* configure timer 3: CLK/64
604 * it is used as a reference time
605 * enable noise canceller for ICP3 */
606 TCCR3B = _BV(CS11) | _BV(CS10);
610 /* Control system will be done in main loop */
613 /* process pending bytes on uart */
616 /* monitor the value of ICR (which is modified
617 * automatically on TT rising edge). If the value
618 * changed, process the time difference. */
619 if (ETIFR & _BV(ICF3)) {
626 diff_icr = (icr - prev_icr);
630 speed = get_speed(cpt_icr, diff_icr);
633 /* read time reference */
639 if (tcnt3 - prev_cs < CS_PERIOD)
649 /* process CS... maybe we don't need to use
650 * control_system_manager, just PID is enough */
652 if (cpt == CPT_ICR_MAX)
655 /* enabled laser when rotation speed if at least 5tr/s */
661 err = cs_consign - speed;
662 out = pid_do_filter(&beacon_tsop.pid, err);
669 if (x == 0 && beacon_tsop.debug_speed)
670 printf("%ld %ld %u %u / %u\n",
671 speed, out, diff_icr, cpt_icr, cpt);
673 pwm_ng_set(&beacon_tsop.pwm_motor, out);
677 /* count the number of CS period between 2 ICR
679 if (cpt < CPT_ICR_MAX)
682 process_sta_ring(&static_beacon);
683 process_opp_ring(&opp_beacon);
685 tick ++; /* global imprecise time reference */