X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fbeacon_tsop%2Fmain.c;h=7d819bbc86653c0e36920fb8fab0778952899f70;hp=939719fbd8c3abe0186d4e438c59e4c2ca3e840e;hb=82d59983ef31ce70582b602600b4ee221f5bed03;hpb=591b50d3818244c510fc05991940f0d03dbb15e1 diff --git a/projects/microb2010/tests/beacon_tsop/main.c b/projects/microb2010/tests/beacon_tsop/main.c index 939719f..7d819bb 100755 --- a/projects/microb2010/tests/beacon_tsop/main.c +++ b/projects/microb2010/tests/beacon_tsop/main.c @@ -1,5 +1,5 @@ /* - * Copyright Droids Corporation (2009) + * Copyright Droids Corporation (2010) * Olivier Matz * * This program is free software; you can redistribute it and/or modify @@ -20,6 +20,8 @@ * */ +#include + #include #include @@ -28,84 +30,80 @@ #include #include #include +#include +#include +#include #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 0xFFF8 -#define FRAME_DATA_SHIFT 3 - -/******************* TSOP */ +#define BOARD2010 +//#define BOARD2006 -#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)) +#ifdef BOARD2010 +#include "board2010.h" #else -#define INTx_TSOP INT4 -#define ISCx0_TSOP ISC40 -#define ISCx1_TSOP ISC41 -#define SIG_TSOP SIG_INTERRUPT4 -#define TSOP_READ() (!(PINE & 0x10)) +#include "board2006.h" #endif -//#define MODUL_455KHZ -#define MODUL_38KHZ - -#if (defined MODUL_455KHZ) -#define TSOP_FREQ_MHZ 0.455 -#define N_PERIODS 10. -#else -#define TSOP_FREQ_MHZ 0.038 -#define N_PERIODS 15. -#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) - -/* frame */ -static uint16_t start_angle_time; -static uint16_t frame; -static uint16_t mask; -static uint8_t len; -static uint8_t val; +/******************* 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 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<> 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 */ +} - if (cur_tsop) - LED2_ON(); - else - LED2_OFF(); +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 (len == 0 && 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) { + LED6_ON(); + 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 (len != 0 && diff_time < TSOP_TIME_SHORT) { - if (len & 1) { - if (val) - frame |= mask; - mask <<= 1; + /* 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->mask <<= 1; } - len ++; + status->len ++; } - /* any long edge */ - else if (len != 0 && diff_time < TSOP_TIME_LONG) { - val = !val; - if (val) - frame |= mask; - mask <<= 1; - len += 2; + /* any long pulse */ + 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 { - len = 0; + 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_MASK); - 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) { + 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(); */ + status->led_cpt ++; } - if ((led_cpt & 0x7) == 0) - 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; + LED3_OFF(); + LED4_OFF(); + LED5_OFF(); + LED6_OFF(); +} + +/* 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) */ +/* 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 */ @@ -232,6 +309,7 @@ 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; @@ -261,9 +339,245 @@ static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_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 */ +static void process_sta_ring(struct frame_status *status) +{ + 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; + + 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) @@ -274,25 +588,35 @@ 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 > "); @@ -302,25 +626,29 @@ int main(void) 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(); @@ -339,7 +667,7 @@ int main(void) sei(); ETIFR = _BV(ICF3); - //LED2_TOGGLE(); + LED2_TOGGLE(); diff_icr = (icr - prev_icr); cpt_icr = cpt; prev_icr = icr; @@ -365,26 +693,26 @@ int main(void) /* 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); @@ -395,27 +723,11 @@ int main(void) 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; - uint32_t frame; - head_next = (frame_ring_head+1) & FRAME_RING_MASK; - frame = frame_ring[frame_ring_head].frame; - - /* display if needed */ - if (beacon_tsop.debug_frame) { - uint8_t beacon_id; - uint16_t data; - - 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, - 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;