linear interpolation, prepare multi TSOP

[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 c5572b3..d2accb3 100755 (executable)
--- a/projects/microb2010/tests/static_beacon/static_beacon.c
+++ b/projects/microb2010/tests/static_beacon/static_beacon.c
@@ -1,7 +1,7 @@
-/*  
+/*

  *  Copyright Droids Corporation (2009)
  *  Olivier Matz <zer0@droids-corp.org>
  *  Copyright Droids Corporation (2009)
  *  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
  *  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


@@ -20,8 +20,11 @@
  *
  */
 
  *
  */
 

+#include <math.h>
+

 #include <aversive.h>
 #include <aversive/wait.h>
 #include <aversive.h>
 #include <aversive/wait.h>

+#include <aversive/pgmspace.h>

 
 #include <uart.h>
 
 
 #include <uart.h>
 


@@ -33,12 +36,46 @@
 
 /*
  * hfuse:  RSTDISBL=1 WTDON=1 SPIEN=0 CKOPT=0 EESAVE=1 BOOTSZ1=0 BOOTSZ0=0 BOOTRST=1
 
 /*
  * hfuse:  RSTDISBL=1 WTDON=1 SPIEN=0 CKOPT=0 EESAVE=1 BOOTSZ1=0 BOOTSZ0=0 BOOTRST=1

- * lfuse:  BODLEVEL=1 BODEN=1 SUT1=1 SUT0=1 CKSEL3=1 CKSEL2=1 CKSEL1=1 CKSEL0=1 
+ * lfuse:  BODLEVEL=1 BODEN=1 SUT1=1 SUT0=1 CKSEL3=1 CKSEL2=1 CKSEL1=1 CKSEL0=1

  */
 
  */
 

+//#define NO_MODULATION
+#define WAIT_LASER
+//#define MODUL_455KHZ
+//#define MODUL_56KHZ
+#define MODUL_38KHZ
+//#define SPEED_40RPS
+#define SPEED_10RPS
+
+/* beacon identifier: must be odd, 3 bits */
+#define BEACON_ID 0x1
+#define BEACON_ID_MASK 0x7
+#define BEACON_ID_SHIFT 0
+
+/* */
+#define FRAME_DATA_MASK  0x0FF8
+#define FRAME_DATA_SHIFT 3
+
+#if (defined MODUL_455KHZ)

 #define N_PERIODS   10
 #define N_CYCLES_0  17
 #define N_CYCLES_1  17
 #define N_PERIODS   10
 #define N_CYCLES_0  17
 #define N_CYCLES_1  17

+#elif (defined MODUL_56KHZ)
+#define N_PERIODS   15
+#define N_CYCLES_0  143
+#define N_CYCLES_1  143
+#elif (defined MODUL_38KHZ)
+#define N_PERIODS   15
+#define N_CYCLES_0  210
+#define N_CYCLES_1  210
+#else
+#error "no freq defined"
+#endif
+
+#define MIN_DIST 150.
+#define MAX_DIST 3600.
+#define LASER_DIST 25.
+

 #define N_CYCLES_PERIOD (N_CYCLES_0 + N_CYCLES_1)
 
 #define LED_PORT PORTD
 #define N_CYCLES_PERIOD (N_CYCLES_0 + N_CYCLES_1)
 
 #define LED_PORT PORTD


@@ -48,11 +85,11 @@
 #define LED3_BIT  7
 
 #define LED_TOGGLE(port, bit) do {             \
 #define LED3_BIT  7
 
 #define LED_TOGGLE(port, bit) do {             \

-               if (port & _BV(bit))            \
-                       port &= ~_BV(bit);      \
-               else                            \
-                       port |= _BV(bit);       \
-       } while(0)
+         if (port & _BV(bit))                  \
+                 port &= ~_BV(bit);            \
+         else                                  \
+                 port |= _BV(bit);             \
+  } while(0)

 
 #define LED1_ON()  sbi(LED_PORT, LED1_BIT)
 #define LED1_OFF() cbi(LED_PORT, LED1_BIT)
 
 #define LED1_ON()  sbi(LED_PORT, LED1_BIT)
 #define LED1_OFF() cbi(LED_PORT, LED1_BIT)


@@ -74,58 +111,54 @@
 #define FRAME 0xAA5B /* in little endian */
 #define FRAME_LEN 16
 
 #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
-#define PHOTO1_BIT 0
-#define PHOTO2_BIT 1
-#define READ_PHOTOS() (PHOTO_PIN & (_BV(PHOTO1_BIT) | _BV(PHOTO2_BIT)))
-#define READ_PHOTO1() (PHOTO_PIN & _BV(PHOTO1_BIT))
-#define READ_PHOTO2() (PHOTO_PIN & _BV(PHOTO2_BIT))
-
-#define PHOTOS_ALL_OFF (_BV(PHOTO1_BIT) | _BV(PHOTO2_BIT))
-#define PHOTOS_ALL_ON (0)
-#define PHOTOS_1ON_2OFF (_BV(PHOTO2_BIT))
-#define PHOTOS_1OFF_2ON (_BV(PHOTO1_BIT))
-
-
-/* in cycles/64 (unit is 4 us at 16Mhz) */
-#define MAX_PHOTO_TIME ((uint8_t)25)  /* t=100us len=5mm rps=40Hz dist=20cm */
-
-#define MIN_INTER_TIME ((uint8_t)12)  /* t=50us len=50mm rps=40Hz dist=350cm */
-#define MAX_INTER_TIME ((uint8_t)250) /* t=1000us len=50mm rps=40Hz dist=20cm */
-
-/* in ms */
-#define INTER_LASER_TIME 10
-
-#define NO_MODULATION
-//#define WAIT_LASER
+/* pin returns !0 when nothing, and 0 when laser is on photodiode */
+#define PHOTO_PIN PINB
+#define PHOTO_BIT 0
+#define READ_PHOTO() (!!(PHOTO_PIN & (_BV(PHOTO_BIT))))
+
+/* IR_DELAY **must** be < 32768 */
+#if (defined SPEED_10RPS)
+#define MIN_INTER_TIME    ((uint16_t)(160*2))  /* t~=160us dist=350cm */
+#define MAX_INTER_TIME    ((uint16_t)(8000*2)) /* t=8ms dist=10cm */
+#define IR_DELAY          ((uint16_t)(8000*2))
+#define INTER_LASER_TIME   30 /* in ms */
+#elif (defined SPEED_40RPS)
+#define MIN_INTER_TIME    ((uint16_t)(40*16))  /* t~=40us dist=350cm */
+#define MAX_INTER_TIME    ((uint16_t)(2000*16)) /* t=2ms dist=10cm */
+#define IR_DELAY          ((uint16_t)(2000*16))
+#define INTER_LASER_TIME   10 /* in ms */
+#else
+#error "speed not defined"
+#endif

 
 

+extern prog_uint16_t framedist_table[];

 /* basic functions to transmit on IR */
 
 static inline void xmit_0(void)
 {
 /* basic functions to transmit on IR */
 
 static inline void xmit_0(void)
 {

-       uint8_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 3);
+       uint16_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 4);

 #ifdef NO_MODULATION
        cbi(IR_PORT, IR_BIT);
 #else
        TCCR1B = 0;
        TCCR1A = 0;
 #endif
 #ifdef NO_MODULATION
        cbi(IR_PORT, IR_BIT);
 #else
        TCCR1B = 0;
        TCCR1A = 0;
 #endif

-       _delay_loop_1(t); /* 3 cycles per loop */
+       _delay_loop_2(t); /* 4 cycles per loop */

 }
 
 static inline void xmit_1(void)
 {
 }
 
 static inline void xmit_1(void)
 {

-       uint8_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 3);
+       uint16_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 4);

 #ifdef NO_MODULATION
        sbi(IR_PORT, IR_BIT);
 #else
        TCCR1B = _BV(WGM13) | _BV(WGM12);
        TCNT1 = N_CYCLES_PERIOD-1;
        TCCR1A = _BV(COM1A1) | _BV(WGM11);
 #ifdef NO_MODULATION
        sbi(IR_PORT, IR_BIT);
 #else
        TCCR1B = _BV(WGM13) | _BV(WGM12);
        TCNT1 = N_CYCLES_PERIOD-1;
        TCCR1A = _BV(COM1A1) | _BV(WGM11);

+       ICR1 = N_CYCLES_PERIOD;

        TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10);
 #endif
        TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10);
 #endif

-       _delay_loop_1(t); /* 3 cycles per loop */
+       _delay_loop_2(t); /* 4 cycles per loop */

 }
 
 /* transmit in manchester code */
 }
 
 /* transmit in manchester code */


@@ -160,64 +193,110 @@ static void xmit_bits(uint32_t frame, uint8_t nbit)
        xmit_0();
 }
 
        xmit_0();
 }
 

-/* */
-static inline int8_t wait_laser(void)
+#ifdef WAIT_LASER
+/* val is 12 bits. Return the 16 bits value that includes the 4 bits
+ * cksum in MSB. */
+static uint16_t do_cksum(uint16_t val)
+{
+       uint16_t x, cksum;
+
+       x = (val & 0xfff);
+       /* add the three 4-bits blocks of x together */
+       cksum = x & 0xf;
+       x = x >> 4;
+       cksum += x & 0xf;
+       cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
+       x = x >> 4;
+       cksum += x & 0xf;
+       cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
+       cksum = (~cksum) & 0xf;
+       return (cksum << 12) + (val & 0xfff);
+}
+
+/* get the frame from laser time difference, return 0 on error (this
+ * frame cannot be sent). */
+static uint32_t get_frame(uint16_t laserdiff)

 {
 {

-       uint8_t photos;
-       uint8_t time;
-       uint8_t diff;
+       uint32_t frame = 0;
+       uint16_t frame_dist = 256;
+       uint16_t step, val;
+
+       /* for calibration, return the time */
+       if (0)
+               return laserdiff;
+
+       for (step = 128; step != 0; step /= 2) {
+               val = pgm_read_word(&framedist_table[frame_dist]);
+               if (laserdiff > val)
+                       frame_dist -= step;
+               else
+                       frame_dist += step;
+       }

 
 

-       /* wait until all is off */
-       while (READ_PHOTOS() != PHOTOS_ALL_OFF);
+       frame |= ((uint32_t)(frame_dist & FRAME_DATA_MASK) << FRAME_DATA_SHIFT);

 
 

-       /* wait an event, it must be photo1 on */
-       while ((photos = READ_PHOTOS()) == PHOTOS_ALL_OFF);
+       /* process cksum and return */
+       return do_cksum(frame);
+}
+
+/* Wait 2 consecutive rising edges on photodiode. Return 0 on success,
+ * in this case, the 'when' pointed area is assigned to the time when
+ * IR signal should be sent. The 'laserdiff' pointer is the time
+ * between the 2 lasers, in timer unit. */
+static inline int8_t wait_laser(uint16_t *when, uint16_t *laserdiff)
+{
+       uint16_t time1, time2;
+       uint16_t diff;
+
+#ifdef SPEED_40RPS
+       /* set timer to 16Mhz, we will use ICP */
+       TCCR1A = 0;
+       TCCR1B = _BV(CS10);
+#else /* 10 RPS */
+       /* set timer to 2Mhz, we will use ICP */
+       TCCR1A = 0;
+       TCCR1B = _BV(CS11);
+#endif
+
+       /* wait until all is off (inverted logic)  */
+       while (READ_PHOTO() == 0);
+       TIFR = _BV(ICF1);
+
+       /* wait falling edge */
+       while ((TIFR & _BV(ICF1)) == 0);
+       time1 = ICR1;

 
 

-       if (photos != PHOTOS_1ON_2OFF)
-               return -1;
-       time = TCNT0;

        LED1_ON();
 
        LED1_ON();
 

-       /* wait an event, it must be photo1 off */
-       while ((photos = READ_PHOTOS()) == PHOTOS_1ON_2OFF) {
-               diff = TCNT0 - time;
-               if (diff > MAX_PHOTO_TIME)
-                       return -1;
-       }
-       if (photos != PHOTOS_ALL_OFF)
-               return -1;
-       //time = TCNT0;
+       /* wait a bit to avoid oscillations */
+       while ((uint16_t)(TCNT1-time1) < MIN_INTER_TIME);
+       TIFR = _BV(ICF1);

 
 

-       /* wait an event, it must be photo2 on */
-       while ((photos = READ_PHOTOS()) == PHOTOS_ALL_OFF) {
-               diff = TCNT0 - time;
+       /* wait next falling edge + timeout */
+       while ((TIFR & _BV(ICF1)) == 0) {
+               diff = TCNT1 - time1;

                if (diff > MAX_INTER_TIME)
                        return -1;
        }
                if (diff > MAX_INTER_TIME)
                        return -1;
        }

+

        LED2_ON();
        LED2_ON();

-       
-       diff = TCNT0 - time;
-       if (diff < MIN_INTER_TIME)
-               return -1;
-       if (photos != PHOTOS_1OFF_2ON)
-               return -1;

 
 

-#if 0  
-       time = TCNT0;
+       /* get time of 2nd laser */
+       time2 = ICR1;
+       TIFR = _BV(ICF1);

 
 

-       /* wait an event, it must be photo2 off */
-       while ((photos = READ_PHOTOS()) == PHOTOS_1OFF_2ON) {
-               diff = TCNT0 - time;
-               if (diff > MAX_PHOTO_TIME)
-                       return -1;
-       }
-       if (photos != PHOTOS_ALL_OFF)
+       /* process time difference */
+       diff = time2 - time1;
+       if (diff < MIN_INTER_TIME)

                return -1;
                return -1;

-#endif
+
+       *when = time1 + (diff/2) + IR_DELAY;
+       *laserdiff = diff;

 
        /* laser ok */
        return 0;
 }
 
        /* laser ok */
        return 0;
 }

+#endif

 
 /* */
 
 
 /* */
 


@@ -225,9 +304,11 @@ int main(void)
 {
        /* must be odd */
        uint32_t frame = FRAME;
 {
        /* must be odd */
        uint32_t frame = FRAME;

+#ifdef WAIT_LASER

        int8_t ret;
        int8_t ret;

-       int16_t c;
-
+       uint16_t when = 0;
+       uint16_t diff = 0;
+#endif

        /* LEDS */
        LED_DDR = _BV(LED1_BIT) | _BV(LED2_BIT) | _BV(LED3_BIT);
        IR_DDR |= _BV(IR_BIT);
        /* LEDS */
        LED_DDR = _BV(LED1_BIT) | _BV(LED2_BIT) | _BV(LED3_BIT);
        IR_DDR |= _BV(IR_BIT);


@@ -238,8 +319,9 @@ int main(void)
 
 #if 0
        while (1) {
 
 #if 0
        while (1) {

+               int16_t c;

                c = uart_recv_nowait(0);
                c = uart_recv_nowait(0);

-               if (c != -1) 
+               if (c != -1)

                        printf("%c", (char)(c+1));
                LED1_ON();
                wait_ms(500);
                        printf("%c", (char)(c+1));
                LED1_ON();
                wait_ms(500);


@@ -250,7 +332,7 @@ int main(void)
 
 #if 0
        while (1) {
 
 #if 0
        while (1) {

-               if (READ_PHOTO() & _BV(PHOTO1_BIT))
+               if (READ_PHOTO())

                        LED1_ON();
                else
                        LED1_OFF();
                        LED1_ON();
                else
                        LED1_OFF();


@@ -265,34 +347,51 @@ int main(void)
        TCCR1B = _BV(WGM13) | _BV(WGM12);
 #endif
 
        TCCR1B = _BV(WGM13) | _BV(WGM12);
 #endif
 

+#if 0
+       /* test freq */
+       ICR1 = N_CYCLES_PERIOD;
+       OCR1A = N_CYCLES_1;
+       TCCR1B = _BV(WGM13) | _BV(WGM12);
+       TCNT1 = N_CYCLES_PERIOD-1;
+       TCCR1A = _BV(COM1A1) | _BV(WGM11);
+       TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10);
+       while (1);
+#endif
+
+

        /* configure timer 0, prescaler = 64 */
        TCCR0 = _BV(CS01) | _BV(CS00);
 
        while (1) {
 
 #ifdef WAIT_LASER
        /* configure timer 0, prescaler = 64 */
        TCCR0 = _BV(CS01) | _BV(CS00);
 
        while (1) {
 
 #ifdef WAIT_LASER

-               ret = wait_laser();
-               
+               ret = wait_laser(&when, &diff);
+

                LED1_OFF();
                LED2_OFF();
 
                if (ret)
                        continue;
                LED1_OFF();
                LED2_OFF();
 
                if (ret)
                        continue;

+
+               frame = get_frame(diff);
+               /* cannot convert into frame... skip it */
+               if (frame == 0) {
+                       wait_ms(INTER_LASER_TIME);
+                       continue;
+               }
+
+               /* wait before IR xmit */
+               while ((int16_t)(when-TCNT1) > 0);

 #endif
 #endif

-               
-#if 1
+

                LED3_ON();
                /* ok, transmit frame */
                xmit_bits(frame, FRAME_LEN);
                LED3_ON();
                /* ok, transmit frame */
                xmit_bits(frame, FRAME_LEN);

-               
+
+               LED3_OFF();
+

                /* don't watch a laser during this time */
                wait_ms(INTER_LASER_TIME);
                /* don't watch a laser during this time */
                wait_ms(INTER_LASER_TIME);

-               LED3_OFF();
-#else
-               LED1_ON();
-               wait_ms(1);
-               LED1_OFF();
-#endif

        }
        return 0;
 }
        }
        return 0;
 }