-/*
+/*
* Copyright Droids Corporation (2010)
* Olivier Matz <zer0@droids-corp.org>
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
#include "uart_proto.h"
#include "trigo.h"
#include "main.h"
+
+#define BOARD2010
+//#define BOARD2006
+
+#ifdef BOARD2010
+#include "board2010.h"
+#else
#include "board2006.h"
-//#include "board2010.h"
+#endif
/******************* TSOP */
/* 8ms, easier if it's a pow of 2 */
#define CS_PERIOD_US (8192)
-#define CS_PERIOD ((uint16_t)(CS_PERIOD_US*2))
+#define CS_PERIOD ((uint16_t)(CS_PERIOD_US/4))
#define CPT_ICR_MAX (uint8_t)((1000000UL/(uint32_t)CS_PERIOD_US)) /* too slow = 1 tr/s */
#define CPT_ICR_MIN (uint8_t)((10000UL/(uint32_t)CS_PERIOD_US)) /* too fast = 100 tr/s */
/* in tr / 1000s */
-#define CS_CONSIGN (10 * 1000L)
+#define CS_CONSIGN (20 * 1000L)
/* 5% tolerance to validate captures, period is in */
#define TIM3_UNIT 250000000L
#define LASER_OFF() do { TCCR0 = 0; } while (0)
struct beacon_tsop beacon_tsop;
+uint32_t cs_consign = CS_CONSIGN;
static uint32_t current_motor_period;
while (1) {
int16_t c;
c = uart_recv_nowait(0);
- if (c != -1)
+ if (c != -1)
printf("%c", (char)(c+1));
LED1_ON();
wait_ms(500);
}
#endif
}
-
+
void debug_tsop(void)
{
#if 0
status->ref_time = ref_time;
status->mask = 1;
}
- /* any short edge */
+ /* any short pulse */
else if (status->len != 0 && diff_time < status->time_short) {
if (status->len & 1) {
if (status->val)
}
status->len ++;
}
- /* any long edge */
+ /* any long pulse */
else if (status->len != 0 && diff_time < status->time_long) {
status->val = !status->val;
if (status->val)
status->ring[status->tail].time = status->start_time;
status->ring[status->tail].tick = tick;
status->tail = tail_next;
- if ((status->led_cpt & 0x7) == 0)
- LED3_TOGGLE();
status->led_cpt ++;
}
status->len = 0;
sei();
if (cur_tsop)
- LED2_ON();
+ LED5_ON();
else
- LED2_OFF();
+ LED5_OFF();
decode_frame(&static_beacon, ref_time, cur_time, cur_tsop);
running = 1;
sei();
-/* if (cur_tsop) */
-/* LED2_ON(); */
-/* else */
-/* LED2_OFF(); */
+ if (cur_tsop)
+ LED6_ON();
+ else
+ LED6_OFF();
decode_frame(&opp_beacon, ref_time, cur_time, cur_tsop);
* (modulo 65536 obviously) */
static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff)
{
- int32_t best_diff = 65536L;
- int8_t best_cpt = -2;
- int32_t diff;
- int8_t i;
-
/* too slow (less than 1 tr/s) */
- if (icr_cpt > CPT_ICR_MAX)
+ if (icr_cpt >= CPT_ICR_MAX) {
+ current_motor_period = 250000;
return 1000L;
+ }
/* too fast (more than 100 tr/s) */
- if (icr_cpt < CPT_ICR_MIN)
+ if (icr_cpt <= CPT_ICR_MIN) {
+ current_motor_period = 2500;
return 100000L;
-
- /* try to get the real time knowning icr_cpt and icr_diff */
- for (i=-1; i<2; i++) {
- diff = ((icr_cpt+i)&3) * 16384L;
- diff += (icr_diff & 0x3fff);
- diff -= icr_diff;
- if (diff > 32768L)
- diff -= 65536L;
- if (diff < -32768)
- diff += 65536L;
-
- if (AbS(diff) < AbS(best_diff)) {
- best_diff = diff;
- best_cpt = icr_cpt + i;
- }
}
- /* real time difference in timer unit (resolution 4us) */
- diff = (best_cpt * 16384L) + (icr_diff & 0x3fff);
- current_motor_period = diff; /* save it in global var */
- return 250000000L/diff;
+ current_motor_period = icr_diff;
+ return TIM3_UNIT/icr_diff;
+}
+
+static int8_t check_sta_frame(uint16_t frame, uint16_t time)
+{
+ int8_t beacon_id;
+ uint16_t cksum;
+
+ /* ignore bad cksum */
+ cksum = verify_cksum(frame);
+ if (cksum == 0xFFFF)
+ goto fail;
+
+ beacon_id = frame & TSOP_STA_BEACON_ID_MASK;
+
+ if (beacon_id != TSOP_STA_BEACON_ID0 &&
+ beacon_id != TSOP_STA_BEACON_ID1)
+ goto fail;
+
+ /* if motor speed is not good, skip values */
+ if (current_motor_period < MOTOR_PERIOD_MIN)
+ goto fail;
+ if (current_motor_period > MOTOR_PERIOD_MAX)
+ goto fail;
+
+ return beacon_id;
+
+ fail:
+ /* display if needed */
+ if (beacon_tsop.debug_frame) {
+ printf("STA ID=%d frame=%x time=%d, cksum=%x\r\n",
+ beacon_id, frame, time, cksum);
+ }
+ return -1;
}
+
/* process the received frame ring */
static void process_sta_ring(struct frame_status *status)
{
uint8_t head, head_next;
uint16_t frame, frametick;
uint8_t found = 0;
- uint8_t beacon_id;
+ int8_t beacon_id;
/* beacon 0 */
uint16_t data0, time0, ref_time0;
head_next = (head+1) & FRAME_RING_MASK;
frame = status->ring[head].frame;
- /* ignore bad cksum */
- if (verify_cksum(frame) == 0xFFFF)
- continue;
-
- beacon_id = (frame >> TSOP_STA_BEACON_ID_SHIFT) & TSOP_STA_BEACON_ID_MASK;
- if (beacon_id != TSOP_STA_BEACON_ID0 &&
- beacon_id != TSOP_STA_BEACON_ID1)
- continue;
-
- /* if motor speed is not good, skip values */
- if (current_motor_period < MOTOR_PERIOD_MIN)
+ beacon_id = check_sta_frame(frame, status->ring[head].time);
+ if (beacon_id < 0) {
+ head = head_next;
continue;
- if (current_motor_period > MOTOR_PERIOD_MAX)
- continue;
-
- /* display if needed */
- if (beacon_tsop.debug_frame) {
- printf("STA ID=%d time=%d\r\n",
- beacon_id, status->ring[head].time);
}
if (beacon_id == TSOP_STA_BEACON_ID0) {
found |= 0x1;
- data0 = (frame >> TSOP_STA_FRAME_DATA_SHIFT) & TSOP_STA_FRAME_DATA_MASK;
+ data0 = (frame & TSOP_STA_FRAME_DATA_MASK) >> TSOP_STA_FRAME_DATA_SHIFT;
time0 = status->ring[head].time;
ref_time0 = status->ring[head].ref_time;
}
else if (beacon_id == TSOP_STA_BEACON_ID1) {
found |= 0x2;
- data1 = (frame >> TSOP_STA_FRAME_DATA_SHIFT) & TSOP_STA_FRAME_DATA_MASK;
+ data1 = (frame & TSOP_STA_FRAME_DATA_MASK) >> TSOP_STA_FRAME_DATA_SHIFT;
time1 = status->ring[head].time;
ref_time1 = status->ring[head].ref_time;
}
if (angle0 > M_PI)
angle0 -= M_PI;
+ /* display if needed */
+ if (beacon_tsop.debug_frame) {
+ printf("STA ID=%d dist0=%2.2f angle0=%2.2f dist1=%2.2f angle1=%2.2f\r\n",
+ beacon_id, dist0, angle0 * 180. / M_PI, dist1, angle1 * 180. / M_PI);
+ }
+
if (ad_to_posxya(&pos, &a, 0, &beacon0, &beacon1, angle0, dist0,
angle1, dist1) < 0)
return;
xmit_static((uint16_t)pos.x, (uint16_t)pos.y, (uint16_t)a);
}
+static int8_t check_opp_frame(uint16_t frame, uint16_t time)
+{
+ int8_t beacon_id = -1;
+ uint16_t cksum;
+
+ /* ignore bad cksum */
+ cksum = verify_cksum(frame);
+ if (cksum == 0xFFFF)
+ goto fail;
+
+ beacon_id = frame & TSOP_OPP_BEACON_ID_MASK;
+ if (beacon_id != TSOP_OPP_BEACON_ID)
+ goto fail;
+
+ /* if motor speed is not good, skip values */
+ if (current_motor_period < MOTOR_PERIOD_MIN)
+ goto fail;
+ if (current_motor_period > MOTOR_PERIOD_MAX)
+ goto fail;
+
+ return beacon_id;
+ fail:
+ /* display if needed */
+ if (beacon_tsop.debug_frame) {
+ printf("OPP ID=%d frame=%x time=%d cksum=%x d=%d\r\n",
+ beacon_id, frame, time, cksum,
+ (frame & TSOP_OPP_FRAME_DATA_MASK) >>
+ TSOP_OPP_FRAME_DATA_SHIFT);
+ }
+ return -1;
+}
+
/* process the received frame ring */
static void process_opp_ring(struct frame_status *status)
{
uint8_t head_next;
uint16_t frame;
uint8_t found = 0;
- uint8_t beacon_id;
uint16_t data, time, ref_time;
double angle;
double dist;
-
+
/* 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;
- /* ignore bad cksum */
- if (verify_cksum(frame) == 0xFFFF)
- continue;
-
- beacon_id = (frame >> TSOP_OPP_BEACON_ID_SHIFT) & TSOP_OPP_BEACON_ID_MASK;
- if (beacon_id != TSOP_OPP_BEACON_ID)
- continue;
-
- /* if motor speed is not good, skip values */
- if (current_motor_period < MOTOR_PERIOD_MIN)
- continue;
- if (current_motor_period > MOTOR_PERIOD_MAX)
+ if (check_opp_frame(frame, status->ring[status->head].time) < 0) {
+ status->head = head_next;
continue;
+ }
found = 1;
- data = (frame >> TSOP_OPP_FRAME_DATA_SHIFT) & TSOP_OPP_FRAME_DATA_MASK;
+ data = (frame & TSOP_OPP_FRAME_DATA_MASK) >> TSOP_OPP_FRAME_DATA_SHIFT;
time = status->ring[status->head].time;
ref_time = status->ring[status->head].ref_time;
- /* display if needed */
- if (beacon_tsop.debug_frame) {
- printf("OPP ID=%d data=%d time=%d\r\n",
- beacon_id, data,
- status->ring[status->head].time);
- }
status->head = head_next;
}
return; /* fail */
angle *= 3600; /* angle in 1/10 deg */
+ /* display if needed */
+ if (beacon_tsop.debug_frame) {
+ printf("OPP dist=%2.2f angle=%2.2f\r\n", dist, angle/10);
+ }
xmit_opp((uint16_t)dist, (uint16_t)angle);
}
uint16_t diff_icr = 0;
uint8_t cpt_icr = 0;
uint8_t cpt = 0;
- int32_t speed, out, err;
+ int32_t speed = 0, out, err;
uint16_t tcnt3;
- uint8_t x = 0;
+ uint8_t x = 0; /* debug display counter */
opp_beacon.frame_len = TSOP_OPP_FRAME_LEN;
opp_beacon.time_long = TSOP_OPP_TIME_LONG;
static_beacon.time_short = TSOP_STA_TIME_SHORT;
/* LEDS */
- LED1_DDR |= _BV(LED1_BIT);
- LED2_DDR |= _BV(LED2_BIT);
- LED3_DDR |= _BV(LED3_BIT);
+ LED_DDR_INIT();
DDRB |= 0x10; /* OC0 (laser pwm) */
/* PID init */
pid_init(&beacon_tsop.pid);
- pid_set_gains(&beacon_tsop.pid, 500, 0, 0);
- pid_set_maximums(&beacon_tsop.pid, 0, 20000, 4095);
+ pid_set_gains(&beacon_tsop.pid, 700, 10, 0);
+ pid_set_maximums(&beacon_tsop.pid, 0, 200000, 4095);
pid_set_out_shift(&beacon_tsop.pid, 10);
pid_set_derivate_filter(&beacon_tsop.pid, 4);
uart_init();
+#if CMDLINE_UART == 0
fdevopen(uart0_dev_send, uart0_dev_recv);
+#elif CMDLINE_UART == 1
+ fdevopen(uart1_dev_send, uart1_dev_recv);
+#endif
rdline_init(&beacon_tsop.rdl, write_char, valid_buffer, complete_buffer);
- snprintf(beacon_tsop.prompt, sizeof(beacon_tsop.prompt), "beacon > ");
+ snprintf(beacon_tsop.prompt, sizeof(beacon_tsop.prompt), "beacon > ");
rdline_newline(&beacon_tsop.rdl, beacon_tsop.prompt);
debug_tsop();
EIMSK |= _BV(INTx_TSOP_STA) | _BV(INTx_TSOP_OPP);
/* pwm for motor */
- PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
+ PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_1);
+#ifdef BOARD2010
+ PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, C, 10, 0, NULL, 0);
+#else
PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, A, 10, 0, NULL, 0);
+#endif
/* pwm for laser:
* - clear on timer compare (CTC)
* - Toggle OC0 on compare match
* - prescaler = 1 */
TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
- OCR0 = 80; /* f = 100 khz at 16 Mhz */
+ OCR0 = 18; /* f ~= 420 khz at 16 Mhz */
/* configure timer 3: CLK/64
* it is used as a reference time
* enable noise canceller for ICP3 */
- TCCR3B = _BV(ICNC3) | _BV(CS11) | _BV(CS10);
+ TCCR3B = _BV(CS11) | _BV(CS10);
sei();
sei();
ETIFR = _BV(ICF3);
- //LED2_TOGGLE();
+ LED2_TOGGLE();
diff_icr = (icr - prev_icr);
cpt_icr = cpt;
prev_icr = icr;
/* process CS... maybe we don't need to use
* control_system_manager, just PID is enough */
+
if (cpt == CPT_ICR_MAX)
speed = 0;
- else
- speed = get_speed(cpt_icr, diff_icr);
-
+
/* enabled laser when rotation speed if at least 5tr/s */
- if (speed > 5000)
+ if (1 || speed > 5000) /* XXX */
LASER_ON();
else
LASER_OFF();
- err = CS_CONSIGN - speed;
+ err = cs_consign - speed;
out = pid_do_filter(&beacon_tsop.pid, err);
- if (x == 0 && beacon_tsop.debug_speed)
- printf("%ld %ld\n", speed, out);
if (out < 0)
out = 0;
- /* XXX */
- if (out > 2000)
- out = 2000;
+ if (out > 3000)
+ out = 3000;
+
+ if (x == 0 && beacon_tsop.debug_speed)
+ printf("%ld %ld %u %u / %u\r\n",
+ speed, out, diff_icr, cpt_icr, cpt);
pwm_ng_set(&beacon_tsop.pwm_motor, out);
git.droids-corp.org / aversive.git / blobdiff