From: zer0 Date: Sat, 20 Feb 2010 17:02:37 +0000 (+0100) Subject: work on beacon X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=dccae820e0f5c68a3a9c496b63eb8d02102d6ebc;hp=6d8949fd4fc3a1e65ff060cfbdb5e405efe15c6c work on beacon --- diff --git a/projects/microb2010/tests/beacon_tsop/.config b/projects/microb2010/tests/beacon_tsop/.config new file mode 100644 index 0000000..a179a7e --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/.config @@ -0,0 +1,251 @@ +# +# Automatically generated by make menuconfig: don't edit +# + +# +# Hardware +# +# CONFIG_MCU_AT90S2313 is not set +# CONFIG_MCU_AT90S2323 is not set +# CONFIG_MCU_AT90S3333 is not set +# CONFIG_MCU_AT90S2343 is not set +# CONFIG_MCU_ATTINY22 is not set +# CONFIG_MCU_ATTINY26 is not set +# CONFIG_MCU_AT90S4414 is not set +# CONFIG_MCU_AT90S4433 is not set +# CONFIG_MCU_AT90S4434 is not set +# CONFIG_MCU_AT90S8515 is not set +# CONFIG_MCU_AT90S8534 is not set +# CONFIG_MCU_AT90S8535 is not set +# CONFIG_MCU_AT86RF401 is not set +# CONFIG_MCU_ATMEGA103 is not set +# CONFIG_MCU_ATMEGA603 is not set +# CONFIG_MCU_AT43USB320 is not set +# CONFIG_MCU_AT43USB355 is not set +# CONFIG_MCU_AT76C711 is not set +# CONFIG_MCU_ATMEGA8 is not set +# CONFIG_MCU_ATMEGA48 is not set +# CONFIG_MCU_ATMEGA88 is not set +# CONFIG_MCU_ATMEGA8515 is not set +# CONFIG_MCU_ATMEGA8535 is not set +# CONFIG_MCU_ATTINY13 is not set +# CONFIG_MCU_ATTINY2313 is not set +# CONFIG_MCU_ATMEGA16 is not set +# CONFIG_MCU_ATMEGA161 is not set +# CONFIG_MCU_ATMEGA162 is not set +# CONFIG_MCU_ATMEGA163 is not set +# CONFIG_MCU_ATMEGA165 is not set +# CONFIG_MCU_ATMEGA168 is not set +# CONFIG_MCU_ATMEGA169 is not set +# CONFIG_MCU_ATMEGA32 is not set +# CONFIG_MCU_ATMEGA323 is not set +# CONFIG_MCU_ATMEGA325 is not set +# CONFIG_MCU_ATMEGA3250 is not set +# CONFIG_MCU_ATMEGA64 is not set +# CONFIG_MCU_ATMEGA645 is not set +# CONFIG_MCU_ATMEGA6450 is not set +CONFIG_MCU_ATMEGA128=y +# CONFIG_MCU_ATMEGA1281 is not set +# CONFIG_MCU_AT90CAN128 is not set +# CONFIG_MCU_AT94K is not set +# CONFIG_MCU_AT90S1200 is not set +# CONFIG_MCU_ATMEGA2560 is not set +# CONFIG_MCU_ATMEGA256 is not set +CONFIG_QUARTZ=16000000 + +# +# Generation options +# +# CONFIG_OPTM_0 is not set +# CONFIG_OPTM_1 is not set +# CONFIG_OPTM_2 is not set +# CONFIG_OPTM_3 is not set +CONFIG_OPTM_S=y +# CONFIG_MATH_LIB is not set +# CONFIG_FDEVOPEN_COMPAT is not set +# CONFIG_NO_PRINTF is not set +# CONFIG_MINIMAL_PRINTF is not set +CONFIG_STANDARD_PRINTF=y +# CONFIG_FORMAT_IHEX is not set +# CONFIG_FORMAT_SREC is not set +CONFIG_FORMAT_BINARY=y + +# +# Base modules +# +CONFIG_MODULE_CIRBUF=y +# CONFIG_MODULE_CIRBUF_LARGE is not set +# CONFIG_MODULE_FIXED_POINT is not set +# CONFIG_MODULE_VECT2 is not set +# CONFIG_MODULE_GEOMETRY is not set +# CONFIG_MODULE_SCHEDULER is not set +# CONFIG_MODULE_SCHEDULER_STATS is not set +# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set +# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set +CONFIG_MODULE_SCHEDULER_TIMER0=y +# CONFIG_MODULE_SCHEDULER_MANUAL is not set +# CONFIG_MODULE_TIME is not set +# CONFIG_MODULE_TIME_CREATE_CONFIG is not set +# CONFIG_MODULE_TIME_EXT is not set +# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set + +# +# Communication modules +# +CONFIG_MODULE_UART=y +# CONFIG_MODULE_UART_9BITS is not set +CONFIG_MODULE_UART_CREATE_CONFIG=y +# CONFIG_MODULE_SPI is not set +# CONFIG_MODULE_SPI_CREATE_CONFIG is not set +# CONFIG_MODULE_I2C is not set +# CONFIG_MODULE_I2C_MASTER is not set +# CONFIG_MODULE_I2C_MULTIMASTER is not set +# CONFIG_MODULE_I2C_CREATE_CONFIG is not set +# CONFIG_MODULE_MF2_CLIENT is not set +# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set +# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set +# CONFIG_MODULE_MF2_SERVER is not set +# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set + +# +# Hardware modules +# +# CONFIG_MODULE_TIMER is not set +# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set +# CONFIG_MODULE_TIMER_DYNAMIC is not set +# CONFIG_MODULE_PWM is not set +# CONFIG_MODULE_PWM_CREATE_CONFIG is not set +CONFIG_MODULE_PWM_NG=y +# CONFIG_MODULE_ADC is not set +# CONFIG_MODULE_ADC_CREATE_CONFIG is not set + +# +# IHM modules +# +# CONFIG_MODULE_MENU is not set +CONFIG_MODULE_VT100=y +CONFIG_MODULE_RDLINE=y +CONFIG_MODULE_RDLINE_CREATE_CONFIG=y +CONFIG_MODULE_RDLINE_KILL_BUF=y +CONFIG_MODULE_RDLINE_HISTORY=y +CONFIG_MODULE_PARSE=y +# CONFIG_MODULE_PARSE_NO_FLOAT is not set + +# +# External devices modules +# +# CONFIG_MODULE_LCD is not set +# CONFIG_MODULE_LCD_CREATE_CONFIG is not set +# CONFIG_MODULE_MULTISERVO is not set +# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set +# CONFIG_MODULE_AX12 is not set +# CONFIG_MODULE_AX12_CREATE_CONFIG is not set + +# +# Brushless motor drivers (you should enable pwm modules to see all) +# +# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set +# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set +# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set +# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set + +# +# Encoders (you need comm/spi for encoders_spi) +# +# CONFIG_MODULE_ENCODERS_MICROB is not set +# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set +# CONFIG_MODULE_ENCODERS_EIRBOT is not set +# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set +# CONFIG_MODULE_ENCODERS_SPI is not set +# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set + +# +# Robot specific modules +# +# CONFIG_MODULE_ROBOT_SYSTEM is not set +# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set +# CONFIG_MODULE_POSITION_MANAGER is not set +# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set +# CONFIG_MODULE_TRAJECTORY_MANAGER is not set +# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set +# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set +# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set + +# +# Control system modules +# +# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set +CONFIG_MODULE_PID=y +CONFIG_MODULE_PID_CREATE_CONFIG=y +# CONFIG_MODULE_RAMP is not set +# CONFIG_MODULE_QUADRAMP is not set +# CONFIG_MODULE_QUADRAMP_DERIVATE is not set +# CONFIG_MODULE_BIQUAD is not set + +# +# Radio devices +# +# CONFIG_MODULE_CC2420 is not set +# CONFIG_MODULE_CC2420_CREATE_CONFIG is not set + +# +# Crypto modules +# +# CONFIG_MODULE_AES is not set +# CONFIG_MODULE_AES_CTR is not set +# CONFIG_MODULE_MD5 is not set +# CONFIG_MODULE_MD5_HMAC is not set +# CONFIG_MODULE_RC4 is not set + +# +# Encodings modules +# +# CONFIG_MODULE_BASE64 is not set +# CONFIG_MODULE_HAMMING is not set + +# +# Debug modules +# +# CONFIG_MODULE_DIAGNOSTIC is not set +# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set +# CONFIG_MODULE_ERROR is not set +# CONFIG_MODULE_ERROR_CREATE_CONFIG is not set + +# +# Programmer options +# +# CONFIG_AVRDUDE is not set +CONFIG_AVARICE=y + +# +# Avrdude +# +# CONFIG_AVRDUDE_PROG_FUTURELEC is not set +# CONFIG_AVRDUDE_PROG_ABCMINI is not set +# CONFIG_AVRDUDE_PROG_PICOWEB is not set +# CONFIG_AVRDUDE_PROG_SP12 is not set +# CONFIG_AVRDUDE_PROG_ALF is not set +# CONFIG_AVRDUDE_PROG_BASCOM is not set +# CONFIG_AVRDUDE_PROG_DT006 is not set +# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set +CONFIG_AVRDUDE_PROG_STK200=y +# CONFIG_AVRDUDE_PROG_PAVR is not set +# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set +# CONFIG_AVRDUDE_PROG_AVR910 is not set +# CONFIG_AVRDUDE_PROG_STK500 is not set +# CONFIG_AVRDUDE_PROG_AVRISP is not set +# CONFIG_AVRDUDE_PROG_BSD is not set +# CONFIG_AVRDUDE_PROG_DAPA is not set +# CONFIG_AVRDUDE_PROG_JTAG1 is not set +# CONFIG_AVRDUDE_PROG_AVR109 is not set +CONFIG_AVRDUDE_PORT="/dev/parport0" +CONFIG_AVRDUDE_BAUDRATE=19200 + +# +# Avarice +# +CONFIG_AVARICE_PORT="/dev/ttyS0" +CONFIG_AVARICE_DEBUG_PORT=1234 +CONFIG_AVARICE_PROG_MKI=y +# CONFIG_AVARICE_PROG_MKII is not set +# CONFIG_AVRDUDE_CHECK_SIGNATURE is not set diff --git a/projects/microb2010/tests/beacon_tsop/Makefile b/projects/microb2010/tests/beacon_tsop/Makefile new file mode 100755 index 0000000..94f9e8c --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/Makefile @@ -0,0 +1,24 @@ +TARGET = beacon_tsop + +AVERSIVE_DIR = ../../../.. + +# List C source files here. (C dependencies are automatically generated.) +SRC = main.c commands.c cmdline.c + +# List Assembler source files here. +# Make them always end in a capital .S. Files ending in a lowercase .s +# will not be considered source files but generated files (assembler +# output from the compiler), and will be deleted upon "make clean"! +# Even though the DOS/Win* filesystem matches both .s and .S the same, +# it will preserve the spelling of the filenames, and gcc itself does +# care about how the name is spelled on its command-line. +ASRC = + +AVRDUDE_DELAY=30 + +CFLAGS += -W + +######################################## + +-include .aversive_conf +include $(AVERSIVE_DIR)/mk/aversive_project.mk diff --git a/projects/microb2010/tests/beacon_tsop/cmdline.c b/projects/microb2010/tests/beacon_tsop/cmdline.c new file mode 100644 index 0000000..1a4e0c9 --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/cmdline.c @@ -0,0 +1,92 @@ +/* + * Copyright Droids Corporation + * Olivier Matz + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: cmdline.c,v 1.5 2009-05-02 10:08:09 zer0 Exp $ + * + */ + +#include +#include + +#include +#include + +#include +#include +#include +#include + +#include + +#include "main.h" +#include "cmdline.h" + + +/******** See in commands.c for the list of commands. */ +extern parse_pgm_ctx_t main_ctx[]; + +void write_char(char c) +{ + uart_send(CMDLINE_UART, c); +} + +void valid_buffer(const char *buf, __attribute__((unused)) uint8_t size) +{ + int8_t ret; + + ret = parse(main_ctx, buf); + if (ret == PARSE_AMBIGUOUS) + printf_P(PSTR("Ambiguous command\r\n")); + else if (ret == PARSE_NOMATCH) + printf_P(PSTR("Command not found\r\n")); + else if (ret == PARSE_BAD_ARGS) + printf_P(PSTR("Bad arguments\r\n")); +} + +int8_t complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize, + int16_t *state) +{ + return complete(main_ctx, buf, state, dstbuf, dstsize); +} + +int cmdline_process(void) +{ + const char *history, *buffer; + int8_t ret, same = 0; + int16_t c; + + while ( (c = uart_recv_nowait(CMDLINE_UART)) != -1) { + + ret = rdline_char_in(&beacon_tsop.rdl, c); + if (ret != 2 && ret != 0) { + buffer = rdline_get_buffer(&beacon_tsop.rdl); + history = rdline_get_history_item(&beacon_tsop.rdl, 0); + if (history) { + same = !memcmp(buffer, history, strlen(history)) && + buffer[strlen(history)] == '\n'; + } + else + same = 0; + if (strlen(buffer) > 1 && !same) + rdline_add_history(&beacon_tsop.rdl, buffer); + rdline_newline(&beacon_tsop.rdl, beacon_tsop.prompt); + } + } + + return 0; +} diff --git a/projects/microb2010/tests/beacon_tsop/cmdline.h b/projects/microb2010/tests/beacon_tsop/cmdline.h new file mode 100644 index 0000000..19f673e --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/cmdline.h @@ -0,0 +1,43 @@ +/* + * Copyright Droids Corporation + * Olivier Matz + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: cmdline.h,v 1.2 2009-02-27 22:23:37 zer0 Exp $ + * + */ + +#define CMDLINE_UART 0 + +int cmdline_process(void); + +static inline uint8_t cmdline_keypressed(void) { + return (uart_recv_nowait(CMDLINE_UART) != -1); +} + +static inline int16_t cmdline_getchar(void) { + return uart_recv_nowait(CMDLINE_UART); +} + +static inline uint8_t cmdline_getchar_wait(void) { + return uart_recv(CMDLINE_UART); +} + +void write_char(char c); +void valid_buffer(const char *buf, uint8_t size); +int8_t complete_buffer(const char *buf, char *dstbuf, uint8_t dstsize, + int16_t *state); + diff --git a/projects/microb2010/tests/beacon_tsop/commands.c b/projects/microb2010/tests/beacon_tsop/commands.c new file mode 100644 index 0000000..e938a73 --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/commands.c @@ -0,0 +1,159 @@ +/* + * Copyright Droids Corporation (2009) + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: commands.c,v 1.7 2009-04-24 19:30:41 zer0 Exp $ + * + * Olivier MATZ + */ + +#include +#include + +#include +#include +#include + +#include +#include +#include +#include +#include + +#include "main.h" + +/**********************************************************/ +/* Reset */ + +/* this structure is filled when cmd_reset is parsed successfully */ +struct cmd_reset_result { + fixed_string_t arg0; +}; + +/* function called when cmd_reset is parsed successfully */ +static void cmd_reset_parsed(__attribute__((unused)) void *parsed_result, + __attribute__((unused)) void *data) +{ + reset(); +} + +prog_char str_reset_arg0[] = "reset"; +parse_pgm_token_string_t cmd_reset_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_reset_result, arg0, str_reset_arg0); + +prog_char help_reset[] = "Reset the board"; +parse_pgm_inst_t cmd_reset = { + .f = cmd_reset_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_reset, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_reset_arg0, + NULL, + }, +}; + +/**********************************************************/ +/* Debug_Frame */ + +/* this structure is filled when cmd_debug_frame is parsed successfully */ +struct cmd_debug_frame_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_debug_frame is parsed successfully */ +static void cmd_debug_frame_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_debug_frame_result *res = parsed_result; + if (!strcmp_P(res->arg1, PSTR("on"))) + beacon_tsop.debug_frame = 1; + else + beacon_tsop.debug_frame = 0; +} + +prog_char str_debug_frame_arg0[] = "debug_frame"; +parse_pgm_token_string_t cmd_debug_frame_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_debug_frame_result, + arg0, str_debug_frame_arg0); +prog_char str_debug_frame_arg1[] = "on#off"; +parse_pgm_token_string_t cmd_debug_frame_arg1 = + TOKEN_STRING_INITIALIZER(struct cmd_debug_frame_result, + arg1, str_debug_frame_arg1); + +prog_char help_debug_frame[] = "Enable frame debug [debug_frame on|off]"; +parse_pgm_inst_t cmd_debug_frame = { + .f = cmd_debug_frame_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_debug_frame, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_debug_frame_arg0, + (prog_void *)&cmd_debug_frame_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* Debug_Speed */ + +/* this structure is filled when cmd_debug_speed is parsed successfully */ +struct cmd_debug_speed_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_debug_speed is parsed successfully */ +static void cmd_debug_speed_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_debug_speed_result *res = parsed_result; + if (!strcmp_P(res->arg1, PSTR("on"))) + beacon_tsop.debug_speed = 1; + else + beacon_tsop.debug_speed = 0; +} + +prog_char str_debug_speed_arg0[] = "debug_speed"; +parse_pgm_token_string_t cmd_debug_speed_arg0 = + TOKEN_STRING_INITIALIZER(struct cmd_debug_speed_result, + arg0, str_debug_speed_arg0); +prog_char str_debug_speed_arg1[] = "on#off"; +parse_pgm_token_string_t cmd_debug_speed_arg1 = + TOKEN_STRING_INITIALIZER(struct cmd_debug_speed_result, + arg1, str_debug_speed_arg1); + +prog_char help_debug_speed[] = "Enable speed debug [debug_speed on|off]"; +parse_pgm_inst_t cmd_debug_speed = { + .f = cmd_debug_speed_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_debug_speed, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_debug_speed_arg0, + (prog_void *)&cmd_debug_speed_arg1, + NULL, + }, +}; + +/**********************************************************/ + +/* in progmem */ +parse_pgm_ctx_t main_ctx[] = { + + /* commands_gen.c */ + (parse_pgm_inst_t *)&cmd_reset, + (parse_pgm_inst_t *)&cmd_debug_frame, + (parse_pgm_inst_t *)&cmd_debug_speed, + NULL, +}; diff --git a/projects/microb2010/tests/beacon_tsop/hfuse b/projects/microb2010/tests/beacon_tsop/hfuse new file mode 100644 index 0000000..06e504c --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/hfuse @@ -0,0 +1 @@ +0xD9 diff --git a/projects/microb2010/tests/beacon_tsop/lfuse b/projects/microb2010/tests/beacon_tsop/lfuse new file mode 100644 index 0000000..8541fd9 --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/lfuse @@ -0,0 +1 @@ +0xE1 diff --git a/projects/microb2010/tests/beacon_tsop/main.c b/projects/microb2010/tests/beacon_tsop/main.c new file mode 100755 index 0000000..ce287cc --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/main.c @@ -0,0 +1,386 @@ +/* + * Copyright Droids Corporation (2009) + * Olivier Matz + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: main.c,v 1.8 2009-05-02 10:08:09 zer0 Exp $ + * + */ + +#include +#include + +#include +#include +#include +#include +#include + +#include "cmdline.h" +#include "main.h" + +/******************* TSOP */ + +#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) +#else +#define INTx_TSOP INT4 +#define ISCx0_TSOP ISC40 +#define ISCx1_TSOP ISC41 +#define SIG_TSOP SIG_INTERRUPT4 +#define TSOP_READ() (PINE & 0x10) +#endif + +#define TSOP_FREQ_MHZ 0.455 +#define TSOP_PERIOD_US (1./TSOP_FREQ_MHZ) +#define N_PERIODS 10. + +#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 + +/* frame */ +static uint16_t start_angle_time; +static uint16_t frame; +static uint16_t mask; +static uint8_t len; +static uint8_t val; + +struct detected_frame { + uint16_t frame; + uint16_t time; +}; + +#define FRAME_RING_ORDER 4 +#define FRAME_RING_SIZE (1< TSOP_TIME_LONG) { + len = 1; + val = 1; + frame = 0; + start_angle_time = cur_time - ref_time; + mask = 1; + } + /* any short edge */ + else if (diff_time < TSOP_TIME_SHORT) { + if (len & 1) { + if (val) + frame |= mask; + mask <<= 1; + } + len ++; + } + /* any long edge */ + else if (diff_time < TSOP_TIME_LONG) { + val = !val; + if (val) + frame |= mask; + mask <<= 1; + len += 2; + } + + /* 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].time = start_angle_time; + frame_ring_tail = tail_next; + } + if (led_cpt & 0x8) + LED3_TOGGLE(); + led_cpt ++; + } + + prev_time = cur_time; + prev_tsop = cur_tsop; +} + +/* absolute value */ +static inline int32_t AbS(int32_t x) +{ + if (x > 0) + return x; + else + return -x; +} + +/* Get the speed of motor (tr / 1000s) + * - icr_cpt is the number of CS period between 2 ICR updates + * - icr_diff is the difference of ICR values between the ICR updates + * (modulo 65536 obviously) */ +static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff) +{ + int32_t best_diff = 65536L; + int8_t best_cpt = -2; + int32_t diff; + int8_t i; + + /* 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; + + /* try to get the real time knowning icr_cpt and icr_diff */ + for (i=-1; i<2; i++) { + diff = ((icr_cpt+i)&3) * 16384L; + diff += (icr_diff & 0x3fff); + diff -= icr_diff; + if (diff > 32768L) + diff -= 65536L; + if (diff < -32768) + diff += 65536L; + + if (AbS(diff) < AbS(best_diff)) { + best_diff = diff; + best_cpt = icr_cpt + i; + } + } + + /* real time difference in 1/2 us */ + diff = (best_cpt * 16384L) + (icr_diff & 0x3fff); + return 2000000000L/diff; +} + +int main(void) +{ + uint16_t prev_cs = 0; + uint16_t prev_icr = 0; + uint16_t icr = 0; + uint16_t diff_icr = 0; + uint8_t cpt_icr = 0; + uint8_t cpt = 0; + int32_t speed, out, err; + uint16_t tcnt3; + uint8_t x = 0; + + /* LEDS */ + LED1_DDR |= _BV(LED1_BIT); + LED2_DDR |= _BV(LED2_BIT); + LED3_DDR |= _BV(LED3_BIT); + 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_out_shift(&beacon_tsop.pid, 10); + pid_set_derivate_filter(&beacon_tsop.pid, 4); + + uart_init(); + fdevopen(uart0_dev_send, uart0_dev_recv); + + rdline_init(&beacon_tsop.rdl, write_char, valid_buffer, complete_buffer); + snprintf(beacon_tsop.prompt, sizeof(beacon_tsop.prompt), "beacon > "); + rdline_newline(&beacon_tsop.rdl, beacon_tsop.prompt); + + debug_tsop(); + debug_serial(); + + /* configure external interrupt for TSOP */ + EICRx_TSOP |= _BV(ISCx0_TSOP); + EIMSK |= _BV(INTx_TSOP); + + /* pwm for motor */ + PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10, + TIMER1_PRESCALER_DIV_1); + PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, A, 10, 0, NULL, 0); + + /* 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 */ + + /* configure timer 3: CLK/8 + * it is used as a reference time + * enable noise canceller for ICP3 */ + TCCR3B = _BV(ICNC3) | _BV(CS11); + + sei(); + + /* Control system will be done in main loop */ + while (1) { + + /* process pending bytes on uart */ + cmdline_process(); + + /* monitor the value of ICR (which is modified + * automatically on TT rising edge). If the value + * changed, process the time difference. */ + if (ETIFR & _BV(ICF3)) { + cli(); + icr = ICR3; + sei(); + ETIFR = _BV(ICF3); + + LED2_TOGGLE(); + diff_icr = (icr - prev_icr); + cpt_icr = cpt; + prev_icr = icr; + cpt = 0; + speed = get_speed(cpt_icr, diff_icr); + } + + /* read time reference */ + cli(); + tcnt3 = TCNT3; + sei(); + + /* wait cs period */ + if (tcnt3 - prev_cs < CS_PERIOD) + continue; + + /* CS LED */ + if (x & 0x80) + LED1_ON(); + else + LED1_OFF(); + x++; + + /* 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) + LASER_ON(); + else + LASER_OFF(); + + 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; + + pwm_ng_set(&beacon_tsop.pwm_motor, out); + + prev_cs = tcnt3; + + /* count the number of CS period between 2 ICR + * captures */ + 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; + 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_ring[frame_ring_head].time); + frame_ring_head = head_next; + } + + } + + return 0; +} diff --git a/projects/microb2010/tests/beacon_tsop/main.h b/projects/microb2010/tests/beacon_tsop/main.h new file mode 100644 index 0000000..0a85337 --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/main.h @@ -0,0 +1,78 @@ +/* + * Copyright Droids Corporation (2009) + * Olivier Matz + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: main.c,v 1.8 2009-05-02 10:08:09 zer0 Exp $ + * + */ + +#define BOARD2006 + +/********************** LEDs */ +#define LED_TOGGLE(port, bit) do { \ + if (port & _BV(bit)) \ + port &= ~_BV(bit); \ + else \ + port |= _BV(bit); \ + } while(0) + +#ifdef BOARD2006 +#define LED1_PORT PORTE +#define LED1_DDR DDRE +#define LED1_BIT 2 +#define LED2_PORT PORTE +#define LED2_DDR DDRE +#define LED2_BIT 3 +#define LED3_PORT PORTB +#define LED3_DDR DDRB +#define LED3_BIT 3 +#define LED1_ON() sbi(LED1_PORT, LED1_BIT) +#define LED1_OFF() cbi(LED1_PORT, LED1_BIT) +#define LED1_TOGGLE() LED1_TOGGLE(LED_PORT, LED1_BIT) +#define LED2_ON() sbi(LED2_PORT, LED2_BIT) +#define LED2_OFF() cbi(LED2_PORT, LED2_BIT) +#define LED2_TOGGLE() LED_TOGGLE(LED2_PORT, LED2_BIT) +#define LED3_ON() sbi(LED3_PORT, LED3_BIT) +#define LED3_OFF() cbi(LED3_PORT, LED3_BIT) +#define LED3_TOGGLE() LED_TOGGLE(LED3_PORT, LED3_BIT) +#else +#define LED_PORT PORTD +#define LED_DDR DDRD +#define LED1_BIT 5 +#define LED2_BIT 6 +#define LED3_BIT 7 +#define LED1_ON() sbi(LED_PORT, LED1_BIT) +#define LED1_OFF() cbi(LED_PORT, LED1_BIT) +#define LED1_TOGGLE() LED_TOGGLE(LED_PORT, LED1_BIT) +#define LED2_ON() sbi(LED_PORT, LED2_BIT) +#define LED2_OFF() cbi(LED_PORT, LED2_BIT) +#define LED2_TOGGLE() LED_TOGGLE(LED_PORT, LED2_BIT) +#define LED3_ON() sbi(LED_PORT, LED3_BIT) +#define LED3_OFF() cbi(LED_PORT, LED3_BIT) +#define LED3_TOGGLE() LED_TOGGLE(LED_PORT, LED3_BIT) +#endif + +struct beacon_tsop { + struct rdline rdl; + char prompt[RDLINE_PROMPT_SIZE]; + struct pwm_ng pwm_motor; + struct pid_filter pid; + uint8_t debug_frame; + uint8_t debug_speed; +}; + +extern struct beacon_tsop beacon_tsop; diff --git a/projects/microb2010/tests/beacon_tsop/pid_config.h b/projects/microb2010/tests/beacon_tsop/pid_config.h new file mode 100755 index 0000000..fa95f08 --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/pid_config.h @@ -0,0 +1,30 @@ +/* + * Copyright Droids Corporation, Microb Technology, Eirbot (2005) + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * + * + */ + +#ifndef PID_CONFIG_H +#define PID_CONFIG_H + +/** the derivate term can be filtered to remove the noise. This value + * is the maxium sample count to keep in memory to do this + * filtering. For an instance of pid, this count is defined o*/ +#define PID_DERIVATE_FILTER_MAX_SIZE 4 + +#endif diff --git a/projects/microb2010/tests/beacon_tsop/pwm_config.h b/projects/microb2010/tests/beacon_tsop/pwm_config.h new file mode 100644 index 0000000..c00d8ce --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/pwm_config.h @@ -0,0 +1,128 @@ +/* + * Copyright Droids Corporation, Microb Technology, Eirbot (2005) + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: pwm_config.h,v 1.2.6.3 2007-09-06 08:18:22 zer0 Exp $ + * + */ + +/* Droids-corp, Eirbot, Microb Technology 2005 - Zer0 + * Config for PWM + */ +/** \file pwm_config.h + \brief Module to operate all PWM outputs + + \test not tested + +*/ + + +#ifndef _PWM_CONFIG_ +#define _PWM_CONFIG_ + +#define _PWM_CONFIG_VERSION_ 2 + +/* Which PWM are enabled ? */ +//#define PWM0_ENABLED +#define PWM1A_ENABLED +//#define PWM1B_ENABLED +//#define PWM1C_ENABLED +//#define PWM2_ENABLED +//#define PWM3A_ENABLED +//#define PWM3B_ENABLED +//#define PWM3C_ENABLED + + +/** max value for PWM entry, default 12 bits > 4095 */ +#define PWM_SIGNIFICANT_BITS 12 + +// timer configs (not all possibilities can be used at this time) +#define TIMER0_MODE TIMER_8_MODE_PWM +#define TIMER0_PRESCALE TIMER0_PRESCALER_DIV_64 + +#define TIMER1_MODE TIMER_16_MODE_PWM_10 +#define TIMER1_PRESCALE TIMER1_PRESCALER_DIV_8 + +#define TIMER2_MODE TIMER_8_MODE_PWM +#define TIMER2_PRESCALE TIMER1_PRESCALER_DIV_64 + +#define TIMER3_MODE TIMER_16_MODE_PWM_10 +#define TIMER3_PRESCALE TIMER3_PRESCALER_DIV_8 + + + + +/** config for pwm and signs + +The pwm mode is defined as follows : +you can add flags like the ones who follow : + +PWM_NORMAL : normal pwm, just to put a value if nothing else is needed +PWM_REVERSE : invert pwm output, not sign + +PWM_SIGNED : activate the sign output on a port (see config) +PWM_SIGN_INVERTED : invert sign output +PWM_SPECIAL_SIGN_MODE : if defined, the pwm is always near 0 for low values, + else negative low values are near 100% + + +the values of PWMxx_SIGN_PORT and PWMxx_SIGN_BIT are simply ignored if the PWM is not signed + + +if you need for example a PWM1A with special sign mode you configure like this : + +#define PWM1A_MODE (PWM_SIGNED | PWM_SPECIAL_SIGN_MODE) +#define PWM1A_SIGN_PORT PORTB +#define PWM1A_SIGN_BIT 2 + +*/ + + + +// example for signed pwm1A +#define PWM1A_MODE (PWM_SIGNED) +#define PWM1A_SIGN_PORT PORTB +#define PWM1A_SIGN_BIT 2 + + + + + +/** +PWM synchronization. + +this makes the PWMs synchronized. +just activate the timers you want to synchronize + +to synch PWMs you need to enshure that the timers have same prescales. This is verified. +you need also to enshure that the PWM mode is the same, this is NOT verified !! +especially, for syncing 8 and 16 bit timers, the PWM mode should be 8 bit. + + +side effect : on some controllers prescalers are shared, so unwanted prescalers can be reset. + +This feature is not 100% shure for the moment, but has been tested on M32 and M128 +*/ + +//#define TIMER0_SYNCH +//#define TIMER1_SYNCH +//#define TIMER2_SYNCH +//#define TIMER3_SYNCH + + + +#endif + diff --git a/projects/microb2010/tests/beacon_tsop/rdline_config.h b/projects/microb2010/tests/beacon_tsop/rdline_config.h new file mode 100644 index 0000000..e69de29 diff --git a/projects/microb2010/tests/beacon_tsop/uart_config.h b/projects/microb2010/tests/beacon_tsop/uart_config.h new file mode 100644 index 0000000..13e1af7 --- /dev/null +++ b/projects/microb2010/tests/beacon_tsop/uart_config.h @@ -0,0 +1,72 @@ +/* + * Copyright Droids Corporation, Microb Technology, Eirbot (2005) + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + * Revision : $Id: uart_config.h,v 1.3.10.1 2006-11-26 21:06:02 zer0 Exp $ + * + */ + +/* Droids-corp 2004 - Zer0 + * config for uart module + */ + +#ifndef UART_CONFIG_H +#define UART_CONFIG_H + +/* + * UART0 definitions + */ + +/* compile uart0 fonctions, undefine it to pass compilation */ +#define UART0_COMPILE + +/* enable uart0 if == 1, disable if == 0 */ +#define UART0_ENABLED 1 + +/* enable uart0 interrupts if == 1, disable if == 0 */ +#define UART0_INTERRUPT_ENABLED 0 + +#define UART0_BAUDRATE 57600 + +/* + * if you enable this, the maximum baudrate you can reach is + * higher, but the precision is lower. + */ +#define UART0_USE_DOUBLE_SPEED 1 +//#define UART0_USE_DOUBLE_SPEED 1 + +#define UART0_RX_FIFO_SIZE 4 +#define UART0_TX_FIFO_SIZE 1 +//#define UART0_NBITS 5 +//#define UART0_NBITS 6 +//#define UART0_NBITS 7 +#define UART0_NBITS 8 +//#define UART0_NBITS 9 + +#define UART0_PARITY UART_PARTITY_NONE +//#define UART0_PARITY UART_PARTITY_ODD +//#define UART0_PARITY UART_PARTITY_EVEN + +#define UART0_STOP_BIT UART_STOP_BITS_1 +//#define UART0_STOP_BIT UART_STOP_BITS_2 + + + + +/* .... same for uart 1, 2, 3 ... */ + +#endif + diff --git a/projects/microb2010/tests/static_beacon/static_beacon.c b/projects/microb2010/tests/static_beacon/static_beacon.c index b8a2adb..c5572b3 100755 --- a/projects/microb2010/tests/static_beacon/static_beacon.c +++ b/projects/microb2010/tests/static_beacon/static_beacon.c @@ -23,6 +23,8 @@ #include #include +#include + /* * Leds: PD5 -> PD7 * Photodiodes: PC0 PC1 @@ -67,8 +69,10 @@ #define IR_BIT 1 /* FRAME must be odd */ -#define FRAME 0x0B /* in little endian 1-1-0-1 */ -#define FRAME_LEN 4 +/* #define FRAME 0x0B /\* in little endian 1-1-0-1 *\/ */ +/* #define FRAME_LEN 4 */ +#define FRAME 0xAA5B /* in little endian */ +#define FRAME_LEN 16 /* pin returns 1 when nothing, and 0 when laser is on photodiode */ #define PHOTO_PIN PINC @@ -93,25 +97,34 @@ /* in ms */ #define INTER_LASER_TIME 10 -#define WAIT_LASER +#define NO_MODULATION +//#define WAIT_LASER /* basic functions to transmit on IR */ static inline void xmit_0(void) { uint8_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 3); +#ifdef NO_MODULATION + cbi(IR_PORT, IR_BIT); +#else TCCR1B = 0; TCCR1A = 0; +#endif _delay_loop_1(t); /* 3 cycles per loop */ } static inline void xmit_1(void) { uint8_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 3); +#ifdef NO_MODULATION + sbi(IR_PORT, IR_BIT); +#else TCCR1B = _BV(WGM13) | _BV(WGM12); TCNT1 = N_CYCLES_PERIOD-1; TCCR1A = _BV(COM1A1) | _BV(WGM11); TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10); +#endif _delay_loop_1(t); /* 3 cycles per loop */ } @@ -131,23 +144,18 @@ static inline void xmit_manchester_1(void) /* transmit a full frame. Each byte is lsb first. */ -static void xmit_bits(uint8_t *buf, uint8_t nbit) +static void xmit_bits(uint32_t frame, uint8_t nbit) { uint8_t i; - uint8_t byte = *buf; for (i=0; i>= 1; - - /* next byte */ - if (((i & 0x07) == 0) && (i != 0)) - byte = *(++buf); + frame >>= 1UL; } xmit_0(); } @@ -216,15 +224,23 @@ static inline int8_t wait_laser(void) int main(void) { /* must be odd */ - uint8_t frame = FRAME; + uint32_t frame = FRAME; int8_t ret; + int16_t c; /* LEDS */ LED_DDR = _BV(LED1_BIT) | _BV(LED2_BIT) | _BV(LED3_BIT); IR_DDR |= _BV(IR_BIT); + uart_init(); + fdevopen(uart0_dev_send, uart0_dev_recv); + sei(); + #if 0 while (1) { + c = uart_recv_nowait(0); + if (c != -1) + printf("%c", (char)(c+1)); LED1_ON(); wait_ms(500); LED1_OFF(); @@ -241,11 +257,13 @@ int main(void) } #endif +#ifndef NO_MODULATION /* configure PWM */ ICR1 = N_CYCLES_PERIOD; OCR1A = N_CYCLES_1; TCCR1A = _BV(COM1A1) | _BV(WGM11); TCCR1B = _BV(WGM13) | _BV(WGM12); +#endif /* configure timer 0, prescaler = 64 */ TCCR0 = _BV(CS01) | _BV(CS00); @@ -265,7 +283,7 @@ int main(void) #if 1 LED3_ON(); /* ok, transmit frame */ - xmit_bits(&frame, FRAME_LEN); + xmit_bits(frame, FRAME_LEN); /* don't watch a laser during this time */ wait_ms(INTER_LASER_TIME);