X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fstatic_beacon%2Fstatic_beacon.c;h=7f6b72c263c6bad0565ebee8552690b54e9c05bf;hp=9f9c8d61ed43a897acb7ffd99899aa0b09d9d161;hb=HEAD;hpb=aa0ebd8b43a0e48d791864ae3268e78d980a70e9 diff --git a/projects/microb2010/tests/static_beacon/static_beacon.c b/projects/microb2010/tests/static_beacon/static_beacon.c index 9f9c8d6..7f6b72c 100755 --- a/projects/microb2010/tests/static_beacon/static_beacon.c +++ b/projects/microb2010/tests/static_beacon/static_beacon.c @@ -24,6 +24,7 @@ #include #include +#include #include @@ -41,10 +42,13 @@ //#define NO_MODULATION #define WAIT_LASER //#define MODUL_455KHZ -//#define MODUL_56KHZ -#define MODUL_38KHZ -//#define SPEED_40RPS -#define SPEED_10RPS +#define MODUL_56KHZ +//#define MODUL_38KHZ +//#define INC_FRAME +//#define FIXED_FRAME +//#define SEND_RAWTIME +#define LOCK_BUS +#define SPEED_20RPS /* beacon identifier: must be odd, 3 bits */ #define BEACON_ID 0x1 @@ -56,7 +60,7 @@ #define FRAME_DATA_SHIFT 3 #if (defined MODUL_455KHZ) -#define N_PERIODS 10 +#define N_PERIODS 15 #define N_CYCLES_0 17 #define N_CYCLES_1 17 #elif (defined MODUL_56KHZ) @@ -104,10 +108,15 @@ #define IR_DDR DDRB #define IR_BIT 1 +#define LOCKBUS_PORT PORTD +#define LOCKBUS_PIN PIND +#define LOCKBUS_DDR DDRD +#define LOCKBUS_BIT 3 + /* FRAME must be odd */ /* #define FRAME 0x0B /\* in little endian 1-1-0-1 *\/ */ /* #define FRAME_LEN 4 */ -#define FRAME 0xAA5B /* in little endian */ +#define FRAME 0x621 /* in little endian */ #define FRAME_LEN 16 /* pin returns !0 when nothing, and 0 when laser is on photodiode */ @@ -115,21 +124,13 @@ #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)) +/* IR_DELAY must be < 32768 */ +#define MIN_INTER_TIME ((uint16_t)(100*16U)) /* t~=160us dist=400cm */ +#define MAX_INTER_TIME ((uint16_t)(4000*16U)) /* t=4ms dist=16cm */ +#define IR_DELAY ((uint16_t)(MAX_INTER_TIME/2)) #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) @@ -191,7 +192,6 @@ static void xmit_bits(uint32_t frame, uint8_t nbit) xmit_0(); } -#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) @@ -216,35 +216,33 @@ static uint16_t do_cksum(uint16_t val) static uint32_t get_frame(uint16_t laserdiff) { uint32_t frame = 0; - double a, d; - uint16_t frame_dist; + uint16_t val, mid, min, max; - frame |= ((uint32_t)BEACON_ID << BEACON_ID_SHIFT); - - /* process angle from laserdiff time */ -#ifdef SPEED_10RPS - /* timer = 2Mhz */ - a = ((double)laserdiff / (2000000./10.)) * 2. * M_PI; -#else - /* timer = 16Mhz */ - a = ((double)laserdiff / (16000000./40.)) * 2. * M_PI; + /* for calibration, return the time */ +#ifdef INC_FRAME + static uint16_t fr = 1; + fr += 2; + return fr; +#endif +#ifdef SEND_RAWTIME + return laserdiff | 1; /* frame must be odd */ #endif - /* get distance from angle */ - d = LASER_DIST / sin(a/2); - - /* scale it between 0 and 511 */ - if (d <= MIN_DIST) - return 0; - if (d >= MAX_DIST) - return 0; - d -= MIN_DIST; - d /= (MAX_DIST-MIN_DIST); - d *= 512; - frame_dist = (uint16_t)d; - if (frame_dist >= 512) /* should not happen... */ - return 0; - - frame |= ((uint32_t)(frame_dist & FRAME_DATA_MASK) << FRAME_DATA_SHIFT); + + min = 0; + max = 511; + while (min != max) { + mid = (max + min + 1) / 2; + val = pgm_read_word(&framedist_table[mid]); + + if (laserdiff > val) + max = mid - 1; + else + min = mid; + } + + frame |= ((uint32_t)((min << FRAME_DATA_SHIFT) + & FRAME_DATA_MASK)); + frame |= BEACON_ID; /* process cksum and return */ return do_cksum(frame); @@ -259,17 +257,11 @@ 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) */ + /* wait until all is off (inverted logic) */ while (READ_PHOTO() == 0); TIFR = _BV(ICF1); @@ -298,16 +290,20 @@ static inline int8_t wait_laser(uint16_t *when, uint16_t *laserdiff) /* process time difference */ diff = time2 - time1; - if (diff < MIN_INTER_TIME) + if (diff > MAX_INTER_TIME) return -1; + /* + * diff/2 is < 32768 + * ir_delay is < 32768 + * current time is ~time1 + diff + */ *when = time1 + (diff/2) + IR_DELAY; *laserdiff = diff; /* laser ok */ return 0; } -#endif /* */ @@ -315,11 +311,10 @@ int main(void) { /* must be odd */ uint32_t frame = FRAME; -#ifdef WAIT_LASER int8_t ret; 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); @@ -369,6 +364,26 @@ int main(void) while (1); #endif +#if 0 + /* test freq ~ 400khz */ + ICR1 = 38; + OCR1A = 19; + TCCR1B = _BV(WGM13) | _BV(WGM12); + TCNT1 = 37; + TCCR1A = _BV(COM1A1) | _BV(WGM11); + TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10); + + /* motor PWM 50%, 8khz */ + DDRB |= 0x08; + OCR2 = 50; + TCCR2 = _BV(WGM21) | _BV(WGM20) | _BV(COM21) | _BV(CS21) ; + + while (1); +#endif + +#ifdef LOCK_BUS + LOCKBUS_PORT &= (~_BV(LOCKBUS_BIT)); +#endif /* configure timer 0, prescaler = 64 */ TCCR0 = _BV(CS01) | _BV(CS00); @@ -383,17 +398,30 @@ int main(void) if (ret) continue; +#endif /* WAIT_LASER */ +#ifdef LOCK_BUS + if ((LOCKBUS_PIN & _BV(LOCKBUS_BIT)) == 0) + continue; + LOCKBUS_DDR |= _BV(LOCKBUS_BIT); +#endif + +#ifdef FIXED_FRAME + frame = FRAME; +#else frame = get_frame(diff); +#endif /* FIXED_FRAME */ /* cannot convert into frame... skip it */ if (frame == 0) { wait_ms(INTER_LASER_TIME); continue; } + +#ifdef WAIT_LASER /* wait before IR xmit */ while ((int16_t)(when-TCNT1) > 0); -#endif +#endif /* WAIT_LASER */ LED3_ON(); /* ok, transmit frame */ @@ -401,6 +429,10 @@ int main(void) LED3_OFF(); +#ifdef LOCK_BUS + LOCKBUS_DDR &= (~_BV(LOCKBUS_BIT)); +#endif + /* don't watch a laser during this time */ wait_ms(INTER_LASER_TIME); }