/*
- * 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"
+#include "board2006.h"
+//#include "board2010.h"
/******************* 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 TSOP_FREQ_MHZ 0.455
-#define TSOP_PERIOD_US (1./TSOP_FREQ_MHZ)
-#define N_PERIODS 10.
-
-#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
-
-/* 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 ref_time;
uint16_t time;
+ uint16_t tick;
};
+/* frame */
+struct frame_status {
+ uint8_t led_cpt;
+ 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)
#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;
+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 */
#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 (10 * 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)
struct beacon_tsop beacon_tsop;
+static uint32_t current_motor_period;
+
void debug_serial(void)
{
#if 0
#endif
}
-/* decode frame */
-SIGNAL(SIG_TSOP) {
- static uint8_t led_cpt = 0;
-
- /* tsop status */
- static uint8_t prev_tsop = 0;
- uint8_t cur_tsop;
-
- /* time */
- static uint16_t prev_time;
- uint16_t ref_time;
- uint16_t cur_time;
- uint16_t diff_time;
+/* 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 */
+}
- ref_time = ICR3;
- cur_time = TCNT3;
- cur_tsop = TSOP_READ();
- diff_time = cur_time - prev_time;
+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 (cur_tsop && diff_time > TSOP_TIME_LONG) {
- len = 1;
- val = 1;
- frame = 0;
- start_angle_time = cur_time - ref_time;
- mask = 1;
+ if (status->len == 0 && cur_tsop && diff_time > status->time_long) {
+ status->len = 1;
+ status->val = 1;
+ status->frame = 0;
+ status->start_time = cur_time;
+ status->ref_time = ref_time;
+ status->mask = 1;
}
/* any short edge */
- else if (diff_time < TSOP_TIME_SHORT) {
- if (len & 1) {
- if (val)
- frame |= mask;
- mask <<= 1;
+ else if (status->len != 0 && diff_time < status->time_short) {
+ if (status->len & 1) {
+ if (status->val)
+ status->frame |= status->mask;
+ status->mask <<= 1;
}
- len ++;
+ status->len ++;
}
/* any long edge */
- else if (diff_time < TSOP_TIME_LONG) {
- val = !val;
- if (val)
- frame |= mask;
- mask <<= 1;
- len += 2;
+ else if (status->len != 0 && diff_time < status->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 (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_ring[frame_ring_tail].time = start_angle_time;
- frame_ring_tail = tail_next;
+ 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].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();
+ status->led_cpt ++;
}
- if (led_cpt & 0x8)
- LED3_TOGGLE();
- led_cpt ++;
+ status->len = 0;
}
- prev_time = cur_time;
- prev_tsop = cur_tsop;
+ status->prev_time = cur_time;
+ status->prev_tsop = cur_tsop;
+}
+
+/* decode frame */
+SIGNAL(SIG_TSOP_STA) {
+ 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_STA_READ();
+
+ /* avoid interruption stacking */
+ if (running)
+ return;
+ running = 1;
+ sei();
+
+ if (cur_tsop)
+ LED2_ON();
+ else
+ LED2_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) */
+/* LED2_ON(); */
+/* else */
+/* LED2_OFF(); */
+
+ decode_frame(&opp_beacon, ref_time, cur_time, cur_tsop);
+
+ running = 0;
}
/* absolute value */
}
}
- /* 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 */
+ return 250000000L/diff;
+}
+
+/* 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;
+
+ /* 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;
+
+ /* 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)
+ 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;
+ 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;
+
+ 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);
+}
+
+/* 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)
+ 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;
+
+ /* 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;
+ }
+
+ 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 */
+
+ xmit_opp((uint16_t)dist, (uint16_t)angle);
}
int main(void)
uint16_t tcnt3;
uint8_t x = 0;
+ 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);
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,
TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
OCR0 = 80; /* f = 100 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(ICNC3) | _BV(CS11) | _BV(CS10);
sei();
sei();
ETIFR = _BV(ICF3);
- LED2_TOGGLE();
+ //LED2_TOGGLE();
diff_icr = (icr - prev_icr);
cpt_icr = cpt;
prev_icr = icr;
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;
- head_next = (frame_ring_head+1) & FRAME_RING_MASK;
- if (beacon_tsop.debug_frame)
- printf("%x %d\n", frame_ring[frame_ring_head].frame,
- frame_ring[frame_ring_head].time);
- frame_ring_head = head_next;
- }
-
+ 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