work on beacon

[aversive.git] / projects / microb2010 / tests / static_beacon / static_beacon.c

diff --git a/projects/microb2010/tests/static_beacon/static_beacon.c b/projects/microb2010/tests/static_beacon/static_beacon.c
index b8a2adb..c5572b3 100755 (executable)
--- a/projects/microb2010/tests/static_beacon/static_beacon.c
+++ b/projects/microb2010/tests/static_beacon/static_beacon.c
@@ -23,6 +23,8 @@
 #include <aversive.h>
 #include <aversive/wait.h>
 
+#include <uart.h>
+
 /*
  * Leds: PD5 -> PD7
  * Photodiodes: PC0 PC1
@@ -67,8 +69,10 @@
 #define IR_BIT  1
 
 /* FRAME must be odd */
-#define FRAME 0x0B /* in little endian 1-1-0-1 */
-#define FRAME_LEN 4
+/* #define FRAME 0x0B /\* in little endian 1-1-0-1 *\/ */
+/* #define FRAME_LEN 4 */
+#define FRAME 0xAA5B /* in little endian */
+#define FRAME_LEN 16
 
 /* pin returns 1 when nothing, and 0 when laser is on photodiode */
 #define PHOTO_PIN PINC
@@ -93,25 +97,34 @@
 /* in ms */
 #define INTER_LASER_TIME 10
 
-#define WAIT_LASER
+#define NO_MODULATION
+//#define WAIT_LASER
 
 /* basic functions to transmit on IR */
 
 static inline void xmit_0(void)
 {
        uint8_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 3);
+#ifdef NO_MODULATION
+       cbi(IR_PORT, IR_BIT);
+#else
        TCCR1B = 0;
        TCCR1A = 0;
+#endif
        _delay_loop_1(t); /* 3 cycles per loop */
 }
 
 static inline void xmit_1(void)
 {
        uint8_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 3);
+#ifdef NO_MODULATION
+       sbi(IR_PORT, IR_BIT);
+#else
        TCCR1B = _BV(WGM13) | _BV(WGM12);
        TCNT1 = N_CYCLES_PERIOD-1;
        TCCR1A = _BV(COM1A1) | _BV(WGM11);
        TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10);
+#endif
        _delay_loop_1(t); /* 3 cycles per loop */
 }
 
@@ -131,23 +144,18 @@ static inline void xmit_manchester_1(void)
 
 /* transmit a full frame. Each byte is lsb first. */
 
-static void xmit_bits(uint8_t *buf, uint8_t nbit)
+static void xmit_bits(uint32_t frame, uint8_t nbit)
 {
        uint8_t i;
-       uint8_t byte = *buf;
 
        for (i=0; i<nbit; i++) {
-               if (byte & 1)
+               if (frame & 1)
                        xmit_manchester_1();
                else
                        xmit_manchester_0();
 
                /* next bit */
-               byte >>= 1;
-
-               /* next byte */
-               if (((i & 0x07) == 0) && (i != 0))
-                       byte = *(++buf);
+               frame >>= 1UL;
        }
        xmit_0();
 }
@@ -216,15 +224,23 @@ static inline int8_t wait_laser(void)
 int main(void)
 {
        /* must be odd */
-       uint8_t frame = FRAME;
+       uint32_t frame = FRAME;
        int8_t ret;
+       int16_t c;
 
        /* LEDS */
        LED_DDR = _BV(LED1_BIT) | _BV(LED2_BIT) | _BV(LED3_BIT);
        IR_DDR |= _BV(IR_BIT);
 
+       uart_init();
+       fdevopen(uart0_dev_send, uart0_dev_recv);
+       sei();
+
 #if 0
        while (1) {
+               c = uart_recv_nowait(0);
+               if (c != -1) 
+                       printf("%c", (char)(c+1));
                LED1_ON();
                wait_ms(500);
                LED1_OFF();
@@ -241,11 +257,13 @@ int main(void)
        }
 #endif
 
+#ifndef NO_MODULATION
        /* configure PWM */
        ICR1 = N_CYCLES_PERIOD;
        OCR1A = N_CYCLES_1;
        TCCR1A = _BV(COM1A1) | _BV(WGM11);
        TCCR1B = _BV(WGM13) | _BV(WGM12);
+#endif
 
        /* configure timer 0, prescaler = 64 */
        TCCR0 = _BV(CS01) | _BV(CS00);
@@ -265,7 +283,7 @@ int main(void)
 #if 1
                LED3_ON();
                /* ok, transmit frame */
-               xmit_bits(&frame, FRAME_LEN);
+               xmit_bits(frame, FRAME_LEN);
                
                /* don't watch a laser during this time */
                wait_ms(INTER_LASER_TIME);