/*
- * Copyright Droids Corporation (2009)
+ * Copyright Droids Corporation (2010)
* Olivier Matz <zer0@droids-corp.org>
*
* This program is free software; you can redistribute it and/or modify
*
*/
+#include <math.h>
+
#include <aversive.h>
#include <aversive/wait.h>
#include <pwm_ng.h>
#include <parse.h>
#include <rdline.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <circles.h>
#include "cmdline.h"
+#include "uart_proto.h"
+#include "trigo.h"
#include "main.h"
-/* beacon identifier: must be odd, 3 bits */
-#define BEACON_ID_MASK 0x7
-#define BEACON_ID_SHIFT 0
-#define FRAME_DATA_MASK 0xFF8
-#define FRAME_DATA_SHIFT 3
-
-/******************* TSOP */
-
-#define EICRx_TSOP EICRB /* EICRA is not ok, cannot do intr on any edge */
-#ifdef BOARD2006
-#define INTx_TSOP INT6
-#define ISCx0_TSOP ISC60
-#define ISCx1_TSOP ISC61
-#define SIG_TSOP SIG_INTERRUPT6
-#define TSOP_READ() (!(PINE & 0x40))
-#else
-#define INTx_TSOP INT4
-#define ISCx0_TSOP ISC40
-#define ISCx1_TSOP ISC41
-#define SIG_TSOP SIG_INTERRUPT4
-#define TSOP_READ() (!(PINE & 0x10))
-#endif
+#define BOARD2010
+//#define BOARD2006
-//#define MODUL_455KHZ
-#define MODUL_38KHZ
-
-#if (defined MODUL_455KHZ)
-#define TSOP_FREQ_MHZ 0.455
-#define N_PERIODS 10.
+#ifdef BOARD2010
+#include "board2010.h"
#else
-#define TSOP_FREQ_MHZ 0.038
-#define N_PERIODS 15.
+#include "board2006.h"
#endif
-#define TSOP_PERIOD_US (1./TSOP_FREQ_MHZ)
-
-#define TSOP_TIME_SHORT_US (1.5 * N_PERIODS * TSOP_PERIOD_US)
-#define TSOP_TIME_LONG_US (2.5 * N_PERIODS * TSOP_PERIOD_US)
-
-#define TSOP_TIME_SHORT ((uint16_t)(TSOP_TIME_SHORT_US*2))
-#define TSOP_TIME_LONG ((uint16_t)(TSOP_TIME_LONG_US*2))
-
-#define FRAME_LEN 16
-#define FRAME_MASK ((1UL << FRAME_LEN) - 1)
+/******************* TSOP */
struct detected_frame {
uint16_t frame;
+ uint16_t ref_time;
uint16_t time;
+ uint16_t tick;
};
/* frame */
struct frame_status {
uint8_t led_cpt;
- uint16_t start_angle_time;
+ uint16_t ref_time;
+ uint16_t start_time;
uint16_t frame;
uint16_t mask;
uint16_t prev_time;
+ uint16_t time_long;
+ uint16_t time_short;
uint8_t prev_tsop;
uint8_t len;
+ uint8_t frame_len;
uint8_t val;
#define FRAME_RING_ORDER 4
#define FRAME_RING_SIZE (1<<FRAME_RING_ORDER)
};
static struct frame_status static_beacon;
+static struct frame_status opp_beacon;
+static uint16_t tick = 0;
+#define MIN_DIST 200.
+#define MAX_DIST 3500.
+/* in ticks (=CS_PERIOD), age before the entry is removed from ring */
+#define MAX_CAP_AGE 30
/********************** CS */
/* 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 (25 * 1000L)
+#define CS_CONSIGN (15 * 1000L)
+
+/* 5% tolerance to validate captures, period is in */
+#define TIM3_UNIT 250000000L
+#define MOTOR_PERIOD_MIN ((uint32_t)((250000000L/CS_CONSIGN) * 0.95))
+#define MOTOR_PERIOD_MAX ((uint32_t)((250000000L/CS_CONSIGN) * 1.05))
/* pwm for laser:
* - clear on timer compare (CTC)
#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;
void debug_serial(void)
{
uint16_t diff_time = cur_time - status->prev_time;
/* first rising edge */
- if (status->len == 0 && cur_tsop && diff_time > TSOP_TIME_LONG) {
+ if (status->len == 0 && cur_tsop && diff_time > status->time_long) {
+ LED6_ON();
status->len = 1;
status->val = 1;
status->frame = 0;
- status->start_angle_time = cur_time - ref_time;
+ status->start_time = cur_time;
+ status->ref_time = ref_time;
status->mask = 1;
}
- /* any short edge */
- else if (status->len != 0 && diff_time < TSOP_TIME_SHORT) {
+ /* any short pulse */
+ else if (status->len != 0 && diff_time < status->time_short) {
if (status->len & 1) {
if (status->val)
status->frame |= status->mask;
}
status->len ++;
}
- /* any long edge */
- else if (status->len != 0 && diff_time < TSOP_TIME_LONG) {
+ /* any long pulse */
+ else if (status->len != 0 && diff_time < status->time_long) {
status->val = !status->val;
if (status->val)
status->frame |= status->mask;
}
/* end of frame */
- if (status->len == FRAME_LEN*2) {
+ if (status->len == status->frame_len*2) {
uint8_t tail_next = (status->tail+1) & FRAME_RING_MASK;
+ uint16_t frame_mask;
+
+ frame_mask = (1 << status->frame_len) - 1;
if (tail_next != status->head) {
- status->ring[status->tail].frame = (status->frame & FRAME_MASK);
- status->ring[status->tail].time = status->start_angle_time;
+ LED5_ON();
+ status->ring[status->tail].frame = (status->frame & frame_mask);
+ status->ring[status->tail].ref_time = status->ref_time;
+ 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();
+/* if ((status->led_cpt & 0x7) == 0) */
+/* LED3_TOGGLE(); */
status->led_cpt ++;
}
status->len = 0;
status->prev_time = cur_time;
status->prev_tsop = cur_tsop;
+ LED3_OFF();
+ LED4_OFF();
+ LED5_OFF();
+ LED6_OFF();
}
/* decode frame */
-SIGNAL(SIG_TSOP) {
+SIGNAL(SIG_TSOP_STA) {
static uint8_t running = 0;
/* tsop status */
ref_time = ICR3;
cur_time = TCNT3;
- cur_tsop = TSOP_READ();
+ cur_tsop = TSOP_STA_READ();
/* avoid interruption stacking */
if (running)
running = 1;
sei();
- if (cur_tsop)
- LED2_ON();
- else
- LED2_OFF();
+/* if (cur_tsop) */
+/* LED5_ON(); */
+/* else */
+/* LED5_OFF(); */
decode_frame(&static_beacon, ref_time, cur_time, cur_tsop);
running = 0;
}
+/* decode frame */
+SIGNAL(SIG_TSOP_OPP) {
+ static uint8_t running = 0;
+
+ /* tsop status */
+ uint8_t cur_tsop;
+ uint16_t ref_time;
+ uint16_t cur_time;
+
+ ref_time = ICR3;
+ cur_time = TCNT3;
+ cur_tsop = TSOP_OPP_READ();
+
+ /* avoid interruption stacking */
+ if (running)
+ return;
+ running = 1;
+ sei();
+
+/* if (cur_tsop) */
+/* LED6_ON(); */
+/* else */
+/* LED6_OFF(); */
+
+ //decode_frame(&opp_beacon, ref_time, cur_time, cur_tsop);
+
+ running = 0;
+}
+
/* absolute value */
static inline int32_t AbS(int32_t x)
{
* (modulo 65536 obviously) */
static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff)
{
+#if 0
int32_t best_diff = 65536L;
int8_t best_cpt = -2;
int32_t diff;
}
}
- /* real time difference in 1/2 us */
+ /* real time difference in timer unit (resolution 4us) */
diff = (best_cpt * 16384L) + (icr_diff & 0x3fff);
- return 2000000000L/diff;
+ current_motor_period = diff; /* save it in global var */
+#endif
+
+ /* too slow (less than 1 tr/s) */
+ if (icr_cpt >= CPT_ICR_MAX)
+ return 1000L;
+
+ /* too fast (more than 100 tr/s) */
+ if (icr_cpt <= CPT_ICR_MIN)
+ return 100000L;
+
+ /* XXX test */
+ if (icr_cpt > 25)
+ return icr_cpt * 8192UL;
+
+ return TIM3_UNIT/icr_diff;
+}
+
+static int8_t check_sta_frame(uint16_t frame, uint16_t time)
+{
+ int8_t beacon_id;
+
+ /* ignore bad cksum */
+ if (verify_cksum(frame) == 0xFFFF)
+ goto fail;
+
+ 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)
+ 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\r\n",
+ beacon_id, frame, time);
+ }
+ return -1;
}
+
/* process the received frame ring */
-void process_ring(struct frame_status *status)
+static void process_sta_ring(struct frame_status *status)
{
- uint8_t head_next;
- uint32_t frame;
+ uint8_t head, head_next;
+ uint16_t frame, frametick;
+ uint8_t found = 0;
+ int8_t beacon_id;
+
+ /* beacon 0 */
+ uint16_t data0, time0, ref_time0;
+ double angle0;
+ double dist0;
+
+ /* beacon 1 */
+ uint16_t data1, time1, ref_time1;
+ double angle1;
+ double dist1;
+
+ point_t pos;
+ double a;
+
+ /* remove too old captures from the ring */
+ while (status->head != status->tail) {
+ head_next = (status->head+1) & FRAME_RING_MASK;
+ frametick = status->ring[status->head].tick;
+ if ((uint16_t)(tick - frametick) < MAX_CAP_AGE)
+ break;
+ status->head = head_next;
+ }
+
+ head = status->head;
+ /* after CS, check if we have a new frame in ring */
+ while (head != status->tail) {
+ head_next = (head+1) & FRAME_RING_MASK;
+ frame = status->ring[head].frame;
+
+ beacon_id = check_sta_frame(frame, status->ring[head].time);
+ if (beacon_id < 0) {
+ head = head_next;
+ continue;
+ }
+
+ if (beacon_id == TSOP_STA_BEACON_ID0) {
+ found |= 0x1;
+ data0 = (frame >> TSOP_STA_FRAME_DATA_SHIFT) & TSOP_STA_FRAME_DATA_MASK;
+ 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;
+ time1 = status->ring[head].time;
+ ref_time1 = status->ring[head].ref_time;
+ }
+
+ head = head_next;
+ }
+
+ /* if we didn't found beacon 0 and 1, return */
+ if (found != 0x3)
+ return;
+
+ /* update ring head */
+ status->head = head;
+
+ /* beacon 0 */
+ dist0 = data0;
+ dist0 /= 512.;
+ dist0 *= (MAX_DIST-MIN_DIST);
+ dist0 += MIN_DIST;
+
+ time0 = time0 - ref_time0;
+ angle0 = (double)time0 / (double)current_motor_period;
+ if (angle0 > 1.)
+ angle0 -= 1.;
+ if (angle0 > 1.)
+ return; /* fail */
+ angle0 *= (2 * M_PI);
+ if (angle0 > M_PI)
+ angle0 -= M_PI;
+
+ /* beacon 1 */
+ dist1 = data1;
+ dist1 /= 512.;
+ dist1 *= (MAX_DIST-MIN_DIST);
+ dist1 += MIN_DIST;
+
+ time1 = time1 - ref_time1;
+ angle1 = (double)time1 / (double)current_motor_period;
+ if (angle1 > 1.)
+ angle1 -= 1.;
+ if (angle1 > 1.)
+ return; /* fail */
+ angle1 *= (2 * M_PI);
+ 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;
+
+ /* ignore bad cksum */
+ if (verify_cksum(frame) == 0xFFFF)
+ goto fail;
+
+ beacon_id = (frame >> TSOP_OPP_BEACON_ID_SHIFT) & 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\r\n",
+ beacon_id, frame, time);
+ }
+ 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;
+ 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;
- /* 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);
+ 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;
+ time = status->ring[status->head].time;
+ ref_time = status->ring[status->head].ref_time;
+
status->head = head_next;
}
+
+ if (found == 0)
+ return;
+
+ dist = data;
+ dist /= 512.;
+ dist *= (MAX_DIST-MIN_DIST);
+ dist += MIN_DIST;
+
+ time = time - ref_time;
+ angle = (double)time / (double)current_motor_period;
+ if (angle > 1.)
+ angle -= 1.;
+ if (angle > 1.)
+ 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);
}
int main(void)
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;
+ opp_beacon.time_short = TSOP_OPP_TIME_SHORT;
+
+ static_beacon.frame_len = TSOP_STA_FRAME_LEN;
+ static_beacon.time_long = TSOP_STA_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 > ");
debug_serial();
/* configure external interrupt for TSOP */
- EICRx_TSOP |= _BV(ISCx0_TSOP);
- EIMSK |= _BV(INTx_TSOP);
+ EICRx_TSOP |= _BV(ISCx0_TSOP_STA) | _BV(ISCx0_TSOP_OPP);
+ EIMSK |= _BV(INTx_TSOP_STA) | _BV(INTx_TSOP_OPP);
/* pwm for motor */
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/8
+ /* configure timer 3: CLK/64
* it is used as a reference time
* enable noise canceller for ICP3 */
- TCCR3B = _BV(ICNC3) | _BV(CS11);
+ 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);
if (cpt < CPT_ICR_MAX)
cpt ++;
- process_ring(&static_beacon);
+ process_sta_ring(&static_beacon);
+ process_opp_ring(&opp_beacon);
+ cli();
+ tick ++; /* global imprecise time reference */
+ sei();
}
return 0;
git.droids-corp.org / aversive.git / blobdiff