From: Olivier MATZ Date: Sun, 7 Mar 2010 21:15:25 +0000 (+0100) Subject: add cksum X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=aa0ebd8b43a0e48d791864ae3268e78d980a70e9;hp=d992c7dd579170e226cfceabb652cdda6edb97b4 add cksum --- diff --git a/projects/microb2010/tests/beacon_tsop/main.c b/projects/microb2010/tests/beacon_tsop/main.c index 939719f..edc444b 100755 --- a/projects/microb2010/tests/beacon_tsop/main.c +++ b/projects/microb2010/tests/beacon_tsop/main.c @@ -146,6 +146,31 @@ void debug_tsop(void) #endif } +#if 0 +/* val is 16 bits, including 4 bits-cksum in MSB, return 0xFFFF is + * cksum is wrong, or the 12 bits value on success. */ +static uint16_t verify_cksum(uint16_t val) +{ + uint16_t x, cksum; + + x = (val & 0xfff); + /* add the four 4-bits blocks of val together */ + cksum = val & 0xf; + val = val >> 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 */ +} +#endif + /* decode frame */ SIGNAL(SIG_TSOP) { static uint8_t led_cpt = 0; diff --git a/projects/microb2010/tests/static_beacon/.config b/projects/microb2010/tests/static_beacon/.config index 5c126d5..8c61239 100644 --- a/projects/microb2010/tests/static_beacon/.config +++ b/projects/microb2010/tests/static_beacon/.config @@ -1,5 +1,5 @@ # -# Automatically generated make config: don't edit +# Automatically generated by make menuconfig: don't edit # # @@ -61,11 +61,12 @@ CONFIG_QUARTZ=16000000 # CONFIG_OPTM_2 is not set # CONFIG_OPTM_3 is not set CONFIG_OPTM_S=y -# CONFIG_MATH_LIB is not set +CONFIG_MATH_LIB=y # CONFIG_FDEVOPEN_COMPAT is not set # CONFIG_NO_PRINTF is not set # CONFIG_MINIMAL_PRINTF is not set CONFIG_STANDARD_PRINTF=y +# CONFIG_ADVANCED_PRINTF is not set # CONFIG_FORMAT_IHEX is not set # CONFIG_FORMAT_SREC is not set CONFIG_FORMAT_BINARY=y @@ -73,10 +74,6 @@ CONFIG_FORMAT_BINARY=y # # Base modules # - -# -# Enable math library in generation options to see all modules -# CONFIG_MODULE_CIRBUF=y # CONFIG_MODULE_CIRBUF_LARGE is not set # CONFIG_MODULE_FIXED_POINT is not set @@ -97,10 +94,6 @@ CONFIG_MODULE_SCHEDULER_TIMER0=y # # Communication modules # - -# -# uart needs circular buffer, mf2 client may need scheduler -# CONFIG_MODULE_UART=y # CONFIG_MODULE_UART_9BITS is not set CONFIG_MODULE_UART_CREATE_CONFIG=y @@ -185,10 +178,6 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y # Control system modules # # CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set - -# -# Filters -# # CONFIG_MODULE_PID is not set # CONFIG_MODULE_PID_CREATE_CONFIG is not set # CONFIG_MODULE_RAMP is not set @@ -199,20 +188,12 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y # # Radio devices # - -# -# Some radio devices require SPI to be activated -# # CONFIG_MODULE_CC2420 is not set # CONFIG_MODULE_CC2420_CREATE_CONFIG is not set # # Crypto modules # - -# -# Crypto modules depend on utils module -# # CONFIG_MODULE_AES is not set # CONFIG_MODULE_AES_CTR is not set # CONFIG_MODULE_MD5 is not set @@ -222,20 +203,12 @@ CONFIG_MODULE_UART_CREATE_CONFIG=y # # Encodings modules # - -# -# Encoding modules depend on utils module -# # CONFIG_MODULE_BASE64 is not set # CONFIG_MODULE_HAMMING is not set # # Debug modules # - -# -# Debug modules depend on utils module -# # CONFIG_MODULE_DIAGNOSTIC is not set # CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set # CONFIG_MODULE_ERROR is not set diff --git a/projects/microb2010/tests/static_beacon/static_beacon.c b/projects/microb2010/tests/static_beacon/static_beacon.c index 08b4251..9f9c8d6 100755 --- a/projects/microb2010/tests/static_beacon/static_beacon.c +++ b/projects/microb2010/tests/static_beacon/static_beacon.c @@ -20,6 +20,8 @@ * */ +#include + #include #include @@ -50,7 +52,7 @@ #define BEACON_ID_SHIFT 0 /* */ -#define FRAME_DATA_MASK 0xFFF8 +#define FRAME_DATA_MASK 0x0FF8 #define FRAME_DATA_SHIFT 3 #if (defined MODUL_455KHZ) @@ -69,6 +71,10 @@ #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 @@ -186,13 +192,62 @@ 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; + double a, d; + uint16_t frame_dist; + frame |= ((uint32_t)BEACON_ID << BEACON_ID_SHIFT); - frame |= ((uint32_t)(laserdiff & FRAME_DATA_MASK) << FRAME_DATA_SHIFT); - return frame; + + /* 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; +#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); + + /* process cksum and return */ + return do_cksum(frame); } /* Wait 2 consecutive rising edges on photodiode. Return 0 on success, @@ -330,6 +385,11 @@ 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);