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linear interpolation, prepare multi TSOP
[aversive.git] / projects / microb2010 / tests / beacon_tsop / main.c
diff --git a/projects/microb2010/tests/beacon_tsop/main.c b/projects/microb2010/tests/beacon_tsop/main.c
index 939719f..0cf5319 100755 (executable)
--- a/projects/microb2010/tests/beacon_tsop/main.c
+++ b/projects/microb2010/tests/beacon_tsop/main.c
@@ -35,7 +35,7 @@
 /* beacon identifier: must be odd, 3 bits */
 #define BEACON_ID_MASK 0x7
 #define BEACON_ID_SHIFT 0
 /* beacon identifier: must be odd, 3 bits */
 #define BEACON_ID_MASK 0x7
 #define BEACON_ID_SHIFT 0
-#define FRAME_DATA_MASK  0xFFF8
+#define FRAME_DATA_MASK  0xFF8
 #define FRAME_DATA_SHIFT 3
 
 /******************* TSOP */
 #define FRAME_DATA_SHIFT 3
 
 /******************* TSOP */
@@ -77,24 +77,32 @@
 #define FRAME_LEN 16
 #define FRAME_MASK ((1UL << FRAME_LEN) - 1)
 
 #define FRAME_LEN 16
 #define FRAME_MASK ((1UL << FRAME_LEN) - 1)
 
-/* frame */
-static uint16_t start_angle_time;
-static uint16_t frame;
-static uint16_t mask;
-static uint8_t len;
-static uint8_t val;
-
 struct detected_frame {
        uint16_t frame;
        uint16_t time;
 };
 
 struct detected_frame {
        uint16_t frame;
        uint16_t time;
 };
 
+/* frame */
+struct frame_status {
+       uint8_t led_cpt;
+       uint16_t start_angle_time;
+       uint16_t frame;
+       uint16_t mask;
+       uint16_t prev_time;
+       uint8_t prev_tsop;
+       uint8_t len;
+       uint8_t val;
 #define FRAME_RING_ORDER 4
 #define FRAME_RING_SIZE  (1<<FRAME_RING_ORDER)
 #define FRAME_RING_MASK  (FRAME_RING_SIZE-1)
 #define FRAME_RING_ORDER 4
 #define FRAME_RING_SIZE  (1<<FRAME_RING_ORDER)
 #define FRAME_RING_MASK  (FRAME_RING_SIZE-1)
-static uint8_t frame_ring_head = 0;
-static uint8_t frame_ring_tail = 0;
-static struct detected_frame frame_ring[FRAME_RING_SIZE];
+       uint8_t head;
+       uint8_t tail;
+       struct detected_frame ring[FRAME_RING_SIZE];
+};
+
+static struct frame_status static_beacon;
+
+
 
 /********************** CS */
 
 
 /********************** CS */
 
@@ -146,75 +154,110 @@ void debug_tsop(void)
 #endif
 }
 
 #endif
 }
 
+/* val is 16 bits, including 4 bits-cksum in MSB, return 0xFFFF is
+ * cksum is wrong, or the 12 bits value on success. */
+static uint16_t verify_cksum(uint16_t val)
+{
+       uint16_t x, cksum;
+
+       x = (val & 0xfff);
+       /* add the four 4-bits blocks of val together */
+       cksum = val & 0xf;
+       val = val >> 4;
+       cksum += val & 0xf;
+       cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
+       val = val >> 4;
+       cksum += val & 0xf;
+       cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
+       val = val >> 4;
+       cksum += val & 0xf;
+       cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
+       if (cksum == 0xf)
+               return x;
+       return 0xffff; /* wrong cksum */
+}
+
+static inline void decode_frame(struct frame_status *status,
+                               uint16_t ref_time, uint16_t cur_time, uint8_t cur_tsop)
+{
+       uint16_t diff_time = cur_time - status->prev_time;
+
+       /* first rising edge */
+       if (status->len == 0 && cur_tsop && diff_time > TSOP_TIME_LONG) {
+               status->len = 1;
+               status->val = 1;
+               status->frame = 0;
+               status->start_angle_time = cur_time - ref_time;
+               status->mask = 1;
+       }
+       /* any short edge */
+       else if (status->len != 0 && diff_time < TSOP_TIME_SHORT) {
+               if (status->len & 1) {
+                       if (status->val)
+                               status->frame |= status->mask;
+                       status->mask <<= 1;
+               }
+               status->len ++;
+       }
+       /* any long edge */
+       else if (status->len != 0 && diff_time < TSOP_TIME_LONG) {
+               status->val = !status->val;
+               if (status->val)
+                       status->frame |= status->mask;
+               status->mask <<= 1;
+               status->len += 2;
+       }
+       /* error case, reset */
+       else {
+               status->len = 0;
+       }
+
+       /* end of frame */
+       if (status->len == FRAME_LEN*2) {
+               uint8_t tail_next = (status->tail+1) & FRAME_RING_MASK;
+
+               if (tail_next != status->head) {
+                       status->ring[status->tail].frame = (status->frame & FRAME_MASK);
+                       status->ring[status->tail].time = status->start_angle_time;
+                       status->tail = tail_next;
+                       if ((status->led_cpt & 0x7) == 0)
+                               LED3_TOGGLE();
+                       status->led_cpt ++;
+               }
+               status->len = 0;
+       }
+
+       status->prev_time = cur_time;
+       status->prev_tsop = cur_tsop;
+}
+
 /* decode frame */
 SIGNAL(SIG_TSOP) {
 /* decode frame */
 SIGNAL(SIG_TSOP) {
-       static uint8_t led_cpt = 0;
+       static uint8_t running = 0;
 
        /* tsop status */
 
        /* tsop status */
-       static uint8_t prev_tsop = 0;
        uint8_t cur_tsop;
        uint8_t cur_tsop;
-
-       /* time */
-       static uint16_t prev_time;
        uint16_t ref_time;
        uint16_t cur_time;
        uint16_t ref_time;
        uint16_t cur_time;
-       uint16_t diff_time;
 
        ref_time = ICR3;
        cur_time = TCNT3;
        cur_tsop = TSOP_READ();
 
        ref_time = ICR3;
        cur_time = TCNT3;
        cur_tsop = TSOP_READ();
-       diff_time = cur_time - prev_time;
+
+       /* avoid interruption stacking */
+       if (running)
+               return;
+       running = 1;
+       sei();
 
        if (cur_tsop)
                LED2_ON();
        else
                LED2_OFF();
 
 
        if (cur_tsop)
                LED2_ON();
        else
                LED2_OFF();
 
-       /* first rising edge */
-       if (len == 0 && cur_tsop && diff_time > TSOP_TIME_LONG) {
-               len = 1;
-               val = 1;
-               frame = 0;
-               start_angle_time = cur_time - ref_time;
-               mask = 1;
-       }
-       /* any short edge */
-       else if (len != 0 && diff_time < TSOP_TIME_SHORT) {
-               if (len & 1) {
-                       if (val)
-                               frame |= mask;
-                       mask <<= 1;
-               }
-               len ++;
-       }
-       /* any long edge */
-       else if (len != 0 && diff_time < TSOP_TIME_LONG) {
-               val = !val;
-               if (val)
-                       frame |= mask;
-               mask <<= 1;
-               len += 2;
-       }
-       /* error case, reset */
-       else {
-               len = 0;
-       }
-
-       /* end of frame */
-       if (len == FRAME_LEN*2) {
-               uint8_t tail_next = (frame_ring_tail+1) & FRAME_RING_MASK;
-               if (tail_next != frame_ring_head) {
-                       frame_ring[frame_ring_tail].frame = (frame & FRAME_MASK);
-                       frame_ring[frame_ring_tail].time = start_angle_time;
-                       frame_ring_tail = tail_next;
-               }
-               if ((led_cpt & 0x7) == 0)
-                       LED3_TOGGLE();
-               led_cpt ++;
-       }
+       decode_frame(&static_beacon, ref_time, cur_time, cur_tsop);
 
 
-       prev_time = cur_time;
-       prev_tsop = cur_tsop;
+       running = 0;
 }
 
 /* absolute value */
 }
 
 /* absolute value */
@@ -266,6 +309,36 @@ static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff)
        return 2000000000L/diff;
 }
 
        return 2000000000L/diff;
 }
 
+/* process the received frame ring */
+void process_ring(struct frame_status *status)
+{
+       uint8_t head_next;
+       uint32_t frame;
+
+       /* after CS, check if we have a new frame in ring */
+       while (status->head != status->tail) {
+               head_next = (status->head+1) & FRAME_RING_MASK;
+               frame = status->ring[status->head].frame;
+
+               /* display if needed */
+               if (beacon_tsop.debug_frame) {
+                       uint8_t beacon_id;
+                       uint16_t data;
+                               
+                       /* ignore bad cksum */
+                       if (verify_cksum(frame) == 0xFFFF)
+                               continue;
+
+                       beacon_id = (frame >> BEACON_ID_SHIFT) & BEACON_ID_MASK;
+                       data = (frame >> FRAME_DATA_SHIFT) & FRAME_DATA_MASK;
+                       printf("ID=%d data=%d time=%d\r\n",
+                              beacon_id, data,
+                              status->ring[status->head].time);
+               }
+               status->head = head_next;
+       }
+}
+
 int main(void)
 {
        uint16_t prev_cs = 0;
 int main(void)
 {
        uint16_t prev_cs = 0;
@@ -395,27 +468,7 @@ int main(void)
                if (cpt < CPT_ICR_MAX)
                        cpt ++;
 
                if (cpt < CPT_ICR_MAX)
                        cpt ++;
 
-               /* after CS, check if we have a new frame in ring */
-               if (frame_ring_head != frame_ring_tail) {
-                       uint8_t head_next;
-                       uint32_t frame;
-                       head_next = (frame_ring_head+1) & FRAME_RING_MASK;
-                       frame = frame_ring[frame_ring_head].frame;
-
-                       /* display if needed */
-                       if (beacon_tsop.debug_frame) {
-                               uint8_t beacon_id;
-                               uint16_t data;
-                               
-                               beacon_id = (frame >> BEACON_ID_SHIFT) & BEACON_ID_MASK;
-                               data = (frame >> FRAME_DATA_SHIFT) & FRAME_DATA_MASK;
-                               printf("ID=%d data=%d time=%d\r\n",
-                                      beacon_id, data,
-                                      frame_ring[frame_ring_head].time);
-                       }
-                       frame_ring_head = head_next;
-               }
-
+               process_ring(&static_beacon);
        }
 
        return 0;
        }
 
        return 0;
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