X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fbeacon_tsop%2Fmain.c;h=2edd5721ada0307edfe628505f4e33e6cda5dbb4;hp=b1d0db703208eb7955095f02595e473a47037273;hb=4e68c9b6f30c864b671b5c51affe61d7c9205465;hpb=1714f4ee916fca95ce24120ea6e698237913f947 diff --git a/projects/microb2010/tests/beacon_tsop/main.c b/projects/microb2010/tests/beacon_tsop/main.c index b1d0db7..2edd572 100755 --- a/projects/microb2010/tests/beacon_tsop/main.c +++ b/projects/microb2010/tests/beacon_tsop/main.c @@ -1,7 +1,7 @@ -/* +/* * Copyright Droids Corporation (2010) * Olivier Matz - * + * * 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 @@ -98,7 +98,7 @@ static uint16_t tick = 0; #define CPT_ICR_MIN (uint8_t)((10000UL/(uint32_t)CS_PERIOD_US)) /* too fast = 100 tr/s */ /* in tr / 1000s */ -#define CS_CONSIGN (15 * 1000L) +#define CS_CONSIGN (20 * 1000L) /* 5% tolerance to validate captures, period is in */ #define TIM3_UNIT 250000000L @@ -123,7 +123,7 @@ void debug_serial(void) 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); @@ -132,7 +132,7 @@ void debug_serial(void) } #endif } - + void debug_tsop(void) { #if 0 @@ -184,7 +184,7 @@ static inline void decode_frame(struct frame_status *status, 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) @@ -193,7 +193,7 @@ static inline void decode_frame(struct frame_status *status, } 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) @@ -219,8 +219,6 @@ static inline void decode_frame(struct frame_status *status, 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; @@ -303,63 +301,63 @@ 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; - 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 */ -#endif + current_motor_period = icr_diff; + return TIM3_UNIT/icr_diff; +} - /* too slow (less than 1 tr/s) */ - if (icr_cpt >= CPT_ICR_MAX) - return 1000L; +static int8_t check_sta_frame(uint16_t frame, uint16_t time) +{ + int8_t beacon_id; + uint16_t cksum; - /* too fast (more than 100 tr/s) */ - if (icr_cpt <= CPT_ICR_MIN) - return 100000L; + /* ignore bad cksum */ + cksum = verify_cksum(frame); + if (cksum == 0xFFFF) + goto fail; - /* XXX test */ - if (icr_cpt > 25) - return icr_cpt * 8192UL; + beacon_id = frame & TSOP_STA_BEACON_ID_MASK; - return TIM3_UNIT/icr_diff; + 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; @@ -389,36 +387,21 @@ static void process_sta_ring(struct frame_status *status) head_next = (head+1) & FRAME_RING_MASK; frame = status->ring[head].frame; - /* ignore bad cksum */ - if (verify_cksum(frame) == 0xFFFF) + beacon_id = check_sta_frame(frame, status->ring[head].time); + if (beacon_id < 0) { + head = head_next; 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; + 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; } @@ -465,6 +448,12 @@ static void process_sta_ring(struct frame_status *status) 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; @@ -472,47 +461,63 @@ static void process_sta_ring(struct frame_status *status) 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; } @@ -532,6 +537,10 @@ static void process_opp_ring(struct frame_status *status) 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); } @@ -574,7 +583,7 @@ int main(void) #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(); @@ -585,7 +594,7 @@ int main(void) 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); @@ -651,9 +660,9 @@ int main(void) if (cpt == CPT_ICR_MAX) speed = 0; - + /* enabled laser when rotation speed if at least 5tr/s */ - if (speed > 5000) + if (1 || speed > 5000) /* XXX */ LASER_ON(); else LASER_OFF(); @@ -662,12 +671,11 @@ int main(void) out = pid_do_filter(&beacon_tsop.pid, err); if (out < 0) out = 0; - /* XXX */ if (out > 3000) out = 3000; if (x == 0 && beacon_tsop.debug_speed) - printf("%ld %ld %u %u / %u\n", + printf("%ld %ld %u %u / %u\r\n", speed, out, diff_icr, cpt_icr, cpt); pwm_ng_set(&beacon_tsop.pwm_motor, out);