X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fstatic_beacon%2Fstatic_beacon.c;h=ef6e1aa63b1de2a39c16aa7ed7ed76281c20e0b2;hp=08b4251bdcead32f5b515f399672afa2e92475de;hb=82d59983ef31ce70582b602600b4ee221f5bed03;hpb=844fa3427676e08d7e9f92279788def635377714

diff --git a/projects/microb2010/tests/static_beacon/static_beacon.c b/projects/microb2010/tests/static_beacon/static_beacon.c
index 08b4251..ef6e1aa 100755
--- a/projects/microb2010/tests/static_beacon/static_beacon.c
+++ b/projects/microb2010/tests/static_beacon/static_beacon.c
@@ -20,8 +20,11 @@
  *
  */
 
+#include <math.h>
+
 #include <aversive.h>
 #include <aversive/wait.h>
+#include <aversive/pgmspace.h>
 
 #include <uart.h>
 
@@ -38,11 +41,12 @@
 
 //#define NO_MODULATION
 #define WAIT_LASER
-//#define MODUL_455KHZ
+#define MODUL_455KHZ
 //#define MODUL_56KHZ
-#define MODUL_38KHZ
+//#define MODUL_38KHZ
 //#define SPEED_40RPS
-#define SPEED_10RPS
+#define SPEED_20RPS
+//#define SPEED_10RPS
 
 /* beacon identifier: must be odd, 3 bits */
 #define BEACON_ID 0x1
@@ -50,11 +54,11 @@
 #define BEACON_ID_SHIFT 0
 
 /* */
-#define FRAME_DATA_MASK  0xFFF8
+#define FRAME_DATA_MASK  0x0FF8
 #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)
@@ -69,6 +73,10 @@
 #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
@@ -101,7 +109,7 @@
 /* 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 0x4A5B /* in little endian */
 #define FRAME_LEN 16
 
 /* pin returns !0 when nothing, and 0 when laser is on photodiode */
@@ -115,6 +123,11 @@
 #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_20RPS)
+#define MIN_INTER_TIME    ((uint16_t)(40*16))   /* t~=80us 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 */
 #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 */
@@ -124,6 +137,7 @@
 #error "speed not defined"
 #endif
 
+extern prog_uint16_t framedist_table[];
 /* basic functions to transmit on IR */
 
 static inline void xmit_0(void)
@@ -186,13 +200,49 @@ static void xmit_bits(uint32_t frame, uint8_t nbit)
 }
 
 #ifdef WAIT_LASER
-/* get the frame from laser time difference */
+/* 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)
 {
 	uint32_t frame = 0;
-	frame |= ((uint32_t)BEACON_ID << BEACON_ID_SHIFT);
-	frame |= ((uint32_t)(laserdiff & FRAME_DATA_MASK) << FRAME_DATA_SHIFT);
-	return frame;
+	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;
+	}
+
+	frame |= ((uint32_t)(frame_dist & FRAME_DATA_MASK) << FRAME_DATA_SHIFT);
+
+	/* process cksum and return */
+	return do_cksum(frame);
 }
 
 /* Wait 2 consecutive rising edges on photodiode. Return 0 on success,
@@ -204,7 +254,7 @@ static inline int8_t wait_laser(uint16_t *when, uint16_t *laserdiff)
 	uint16_t time1, time2;
 	uint16_t diff;
 
-#ifdef SPEED_40RPS
+#if (defined SPEED_40RPS) || (defined SPEED_20RPS)
 	/* set timer to 16Mhz, we will use ICP */
 	TCCR1A = 0;
 	TCCR1B = _BV(CS10);
@@ -314,6 +364,23 @@ 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
+
 
 	/* configure timer 0, prescaler = 64 */
 	TCCR0 = _BV(CS01) | _BV(CS00);
@@ -330,6 +397,11 @@ int main(void)
 			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);