From: zer0 Date: Sun, 7 Mar 2010 19:31:42 +0000 (+0100) Subject: merge X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=591b50d3818244c510fc05991940f0d03dbb15e1;hp=657979175089eef7f2de8918b6bff47dbd08f2e2 merge --- diff --git a/projects/microb2010/tests/beacon_tsop/main.c b/projects/microb2010/tests/beacon_tsop/main.c index ce287cc..939719f 100755 --- a/projects/microb2010/tests/beacon_tsop/main.c +++ b/projects/microb2010/tests/beacon_tsop/main.c @@ -32,6 +32,12 @@ #include "cmdline.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 EICRx_TSOP EICRB /* EICRA is not ok, cannot do intr on any edge */ @@ -40,18 +46,27 @@ #define ISCx0_TSOP ISC60 #define ISCx1_TSOP ISC61 #define SIG_TSOP SIG_INTERRUPT6 -#define TSOP_READ() (PINE & 0x40) +#define TSOP_READ() (!(PINE & 0x40)) #else #define INTx_TSOP INT4 #define ISCx0_TSOP ISC40 #define ISCx1_TSOP ISC41 #define SIG_TSOP SIG_INTERRUPT4 -#define TSOP_READ() (PINE & 0x10) +#define TSOP_READ() (!(PINE & 0x10)) #endif +//#define MODUL_455KHZ +#define MODUL_38KHZ + +#if (defined MODUL_455KHZ) #define TSOP_FREQ_MHZ 0.455 -#define TSOP_PERIOD_US (1./TSOP_FREQ_MHZ) #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) @@ -60,6 +75,7 @@ #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; @@ -149,8 +165,13 @@ SIGNAL(SIG_TSOP) { cur_tsop = TSOP_READ(); diff_time = cur_time - prev_time; + if (cur_tsop) + LED2_ON(); + else + LED2_OFF(); + /* first rising edge */ - if (cur_tsop && diff_time > TSOP_TIME_LONG) { + if (len == 0 && cur_tsop && diff_time > TSOP_TIME_LONG) { len = 1; val = 1; frame = 0; @@ -158,7 +179,7 @@ SIGNAL(SIG_TSOP) { mask = 1; } /* any short edge */ - else if (diff_time < TSOP_TIME_SHORT) { + else if (len != 0 && diff_time < TSOP_TIME_SHORT) { if (len & 1) { if (val) frame |= mask; @@ -167,23 +188,27 @@ SIGNAL(SIG_TSOP) { len ++; } /* any long edge */ - else if (diff_time < TSOP_TIME_LONG) { + else if (len != 0 && diff_time < TSOP_TIME_LONG) { val = !val; if (val) frame |= mask; mask <<= 1; len += 2; } + /* error case, reset */ + else { + 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_ring[frame_ring_tail].frame = (frame & FRAME_MASK); frame_ring[frame_ring_tail].time = start_angle_time; frame_ring_tail = tail_next; } - if (led_cpt & 0x8) + if ((led_cpt & 0x7) == 0) LED3_TOGGLE(); led_cpt ++; } @@ -314,7 +339,7 @@ int main(void) sei(); ETIFR = _BV(ICF3); - LED2_TOGGLE(); + //LED2_TOGGLE(); diff_icr = (icr - prev_icr); cpt_icr = cpt; prev_icr = icr; @@ -373,10 +398,21 @@ int main(void) /* 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; - if (beacon_tsop.debug_frame) - printf("%x %d\n", frame_ring[frame_ring_head].frame, + 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; } diff --git a/projects/microb2010/tests/static_beacon/static_beacon.c b/projects/microb2010/tests/static_beacon/static_beacon.c index c8e54c0..08b4251 100755 --- a/projects/microb2010/tests/static_beacon/static_beacon.c +++ b/projects/microb2010/tests/static_beacon/static_beacon.c @@ -36,9 +36,39 @@ * 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 0xFFF8 +#define FRAME_DATA_SHIFT 3 + +#if (defined MODUL_455KHZ) #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 N_CYCLES_PERIOD (N_CYCLES_0 + N_CYCLES_1) #define LED_PORT PORTD @@ -48,11 +78,11 @@ #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) @@ -75,48 +105,52 @@ #define FRAME_LEN 16 /* pin returns !0 when nothing, and 0 when laser is on photodiode */ -#define PHOTO_PIN PINC +#define PHOTO_PIN PINB #define PHOTO_BIT 0 #define READ_PHOTO() (!!(PHOTO_PIN & (_BV(PHOTO_BIT)))) -#define MIN_INTER_TIME (50*16) /* t~=50us dist=350cm */ -#define MAX_INTER_TIME (2000*16) /* t=2ms dist=20cm */ - -/* xmit 2ms after virtual laser: must be < 32768 */ -#define IR_DELAY (2000*16) - -/* in ms */ -#define INTER_LASER_TIME 10 - -//#define NO_MODULATION -#define WAIT_LASER +/* 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 /* 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 - _delay_loop_1(t); /* 3 cycles per loop */ + _delay_loop_2(t); /* 4 cycles per loop */ } 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); + ICR1 = N_CYCLES_PERIOD; 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 */ @@ -151,46 +185,74 @@ static void xmit_bits(uint32_t frame, uint8_t nbit) xmit_0(); } +#ifdef WAIT_LASER +/* get the frame from laser time difference */ +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; +} + /* 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. */ -static inline int8_t wait_laser(uint16_t *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 */ - while (READ_PHOTO() != 0); + /* wait until all is off (inverted logic) */ + while (READ_PHOTO() == 0); TIFR = _BV(ICF1); - /* wait rising edge */ + /* wait falling edge */ while ((TIFR & _BV(ICF1)) == 0); time1 = ICR1; + + LED1_ON(); + + /* wait a bit to avoid oscillations */ + while ((uint16_t)(TCNT1-time1) < MIN_INTER_TIME); TIFR = _BV(ICF1); - /* wait next rising edge + timeout */ + /* wait next falling edge + timeout */ while ((TIFR & _BV(ICF1)) == 0) { diff = TCNT1 - time1; if (diff > MAX_INTER_TIME) return -1; } + LED2_ON(); + + /* get time of 2nd laser */ time2 = ICR1; TIFR = _BV(ICF1); + /* process time difference */ diff = time2 - time1; if (diff < MIN_INTER_TIME) return -1; *when = time1 + (diff/2) + IR_DELAY; + *laserdiff = diff; /* laser ok */ return 0; } +#endif /* */ @@ -198,9 +260,11 @@ 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); @@ -239,13 +303,25 @@ int main(void) 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 - ret = wait_laser(&when); + ret = wait_laser(&when, &diff); LED1_OFF(); LED2_OFF(); @@ -253,23 +329,20 @@ int main(void) if (ret) continue; + frame = get_frame(diff); + /* wait before IR xmit */ while ((int16_t)(when-TCNT1) > 0); #endif -#if 1 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); - LED3_OFF(); -#else - LED1_ON(); - wait_ms(1); - LED1_OFF(); -#endif } return 0; } diff --git a/projects/microb2010/tests/test_board2008/.config b/projects/microb2010/tests/test_board2008/.config index f1528d4..9ce152f 100644 --- a/projects/microb2010/tests/test_board2008/.config +++ b/projects/microb2010/tests/test_board2008/.config @@ -83,6 +83,7 @@ CONFIG_MODULE_CIRBUF=y CONFIG_MODULE_FIXED_POINT=y CONFIG_MODULE_VECT2=y CONFIG_MODULE_GEOMETRY=y +# CONFIG_MODULE_HOSTSIM is not set CONFIG_MODULE_SCHEDULER=y CONFIG_MODULE_SCHEDULER_STATS=y # CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set @@ -169,9 +170,10 @@ CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG=y # CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set # -# Robot specific modules +# Robot specific modules (fixed point lib may be needed) # CONFIG_MODULE_ROBOT_SYSTEM=y +# CONFIG_MODULE_ROBOT_SYSTEM_USE_F64 is not set # CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set CONFIG_MODULE_POSITION_MANAGER=y CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE=y diff --git a/projects/microb2010/tests/test_board2008/actuator.c b/projects/microb2010/tests/test_board2008/actuator.c index 5e2f39a..8c09231 100644 --- a/projects/microb2010/tests/test_board2008/actuator.c +++ b/projects/microb2010/tests/test_board2008/actuator.c @@ -29,7 +29,7 @@ #include #include #include -#include +#include #include #include @@ -51,7 +51,7 @@ static volatile uint8_t fessor_state = OFF; static volatile uint32_t fessor_pos_up = 35000; -static volatile uint32_t fessor_pos_down = 63500; +static volatile uint32_t fessor_pos_down = 0; static volatile uint32_t fessor_delay_up = 500; static volatile uint32_t fessor_delay_down = 2000; static volatile uint32_t delay = 0; diff --git a/projects/microb2010/tests/test_board2008/cmdline.c b/projects/microb2010/tests/test_board2008/cmdline.c index c584222..483d4b8 100644 --- a/projects/microb2010/tests/test_board2008/cmdline.c +++ b/projects/microb2010/tests/test_board2008/cmdline.c @@ -30,7 +30,7 @@ #include #include #include -#include +#include #include #include diff --git a/projects/microb2010/tests/test_board2008/commands_ax12.c b/projects/microb2010/tests/test_board2008/commands_ax12.c index 804e084..75616f7 100644 --- a/projects/microb2010/tests/test_board2008/commands_ax12.c +++ b/projects/microb2010/tests/test_board2008/commands_ax12.c @@ -30,7 +30,7 @@ #include #include #include -#include +#include #include #include diff --git a/projects/microb2010/tests/test_board2008/commands_cs.c b/projects/microb2010/tests/test_board2008/commands_cs.c index 7af6205..5bd97d3 100644 --- a/projects/microb2010/tests/test_board2008/commands_cs.c +++ b/projects/microb2010/tests/test_board2008/commands_cs.c @@ -29,7 +29,7 @@ #include #include -#include +#include #include #include diff --git a/projects/microb2010/tests/test_board2008/commands_gen.c b/projects/microb2010/tests/test_board2008/commands_gen.c index 084d2cb..8438f38 100644 --- a/projects/microb2010/tests/test_board2008/commands_gen.c +++ b/projects/microb2010/tests/test_board2008/commands_gen.c @@ -29,7 +29,7 @@ #include #include -#include +#include #include #include diff --git a/projects/microb2010/tests/test_board2008/commands_mainboard.c b/projects/microb2010/tests/test_board2008/commands_mainboard.c index de3e936..1fb35a7 100644 --- a/projects/microb2010/tests/test_board2008/commands_mainboard.c +++ b/projects/microb2010/tests/test_board2008/commands_mainboard.c @@ -30,7 +30,7 @@ #include #include -#include +#include #include #include diff --git a/projects/microb2010/tests/test_board2008/commands_traj.c b/projects/microb2010/tests/test_board2008/commands_traj.c index 691b8c0..74d116d 100644 --- a/projects/microb2010/tests/test_board2008/commands_traj.c +++ b/projects/microb2010/tests/test_board2008/commands_traj.c @@ -29,7 +29,7 @@ #include #include -#include +#include #include #include diff --git a/projects/microb2010/tests/test_board2008/cs.c b/projects/microb2010/tests/test_board2008/cs.c index 9736646..c2409a1 100644 --- a/projects/microb2010/tests/test_board2008/cs.c +++ b/projects/microb2010/tests/test_board2008/cs.c @@ -31,7 +31,7 @@ #include #include #include -#include +#include #include #include @@ -99,15 +99,16 @@ static void do_cs(void *dummy) cs_manage(&mainboard.angle.cs); if (mainboard.distance.on) cs_manage(&mainboard.distance.cs); - if (mainboard.fessor.on) + if (mainboard.fessor.on) { cs_manage(&mainboard.fessor.cs); + fessor_manage(); + } if (mainboard.wheel.on) cs_manage(&mainboard.wheel.cs); - if (mainboard.elevator.on) + if (mainboard.elevator.on) { cs_manage(&mainboard.elevator.cs); - - fessor_manage(); - elevator_manage(); + elevator_manage(); + } } if ((cpt & 1) && (mainboard.flags & DO_POS)) { /* about 1.5ms (worst case without centrifugal force @@ -305,7 +306,7 @@ void microb_cs_init(void) mainboard.angle.on = 0; mainboard.distance.on = 0; mainboard.fessor.on = 1; - mainboard.elevator.on = 1; + mainboard.elevator.on = 0; mainboard.wheel.on = 1; mainboard.flags |= DO_CS; diff --git a/projects/microb2010/tests/test_board2008/main.bin b/projects/microb2010/tests/test_board2008/main.bin index 2538980..22a4acc 100755 Binary files a/projects/microb2010/tests/test_board2008/main.bin and b/projects/microb2010/tests/test_board2008/main.bin differ diff --git a/projects/microb2010/tests/test_board2008/main.c b/projects/microb2010/tests/test_board2008/main.c index 732bd73..c9a3293 100755 --- a/projects/microb2010/tests/test_board2008/main.c +++ b/projects/microb2010/tests/test_board2008/main.c @@ -33,7 +33,7 @@ #include #include #include -#include +#include #include #include diff --git a/projects/microb2010/tests/test_board2008/strat_base.c b/projects/microb2010/tests/test_board2008/strat_base.c index 9945e2c..ffd801e 100644 --- a/projects/microb2010/tests/test_board2008/strat_base.c +++ b/projects/microb2010/tests/test_board2008/strat_base.c @@ -30,7 +30,7 @@ #include #include -#include +#include #include #include diff --git a/projects/microb2010/tests/test_board2008/strat_utils.c b/projects/microb2010/tests/test_board2008/strat_utils.c index edd795a..2816744 100644 --- a/projects/microb2010/tests/test_board2008/strat_utils.c +++ b/projects/microb2010/tests/test_board2008/strat_utils.c @@ -29,7 +29,7 @@ #include #include -#include +#include #include #include @@ -77,17 +77,17 @@ int16_t simple_modulo_360(int16_t a) return a; } -/** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] */ -double simple_modulo_2pi(double a) -{ - if (a < -M_PI) { - a += M_2PI; - } - else if (a > M_PI) { - a -= M_2PI; - } - return a; -} +/* /\** do a modulo 2.pi -> [-Pi,+Pi], knowing that 'a' is in [-3Pi,+3Pi] *\/ */ +/* double simple_modulo_2pi(double a) */ +/* { */ +/* if (a < -M_PI) { */ +/* a += M_2PI; */ +/* } */ +/* else if (a > M_PI) { */ +/* a -= M_2PI; */ +/* } */ +/* return a; */ +/* } */ /* return the distance to a point in the area */ int16_t angle_abs_to_rel(int16_t a_abs)