tx-beacon: full-featured version

Signed-off-by: Olivier Matz <zer0@droids-corp.org>

diff --git a/.config b/.config
new file mode 100644 (file)
index 0000000..2a2bbaa
--- /dev/null
+++ b/.config
@@ -0,0 +1,256 @@
+#
+# 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_ATTINY45 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=y
+# 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 is not set
+# 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=8000000
+
+#
+# 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=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=y
+# CONFIG_FORMAT_SREC is not set
+# CONFIG_FORMAT_BINARY is not set
+
+#
+# Base modules
+#
+# CONFIG_MODULE_CIRBUF is not set
+# 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_HOSTSIM 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 is not set
+# CONFIG_MODULE_UART_9BITS is not set
+# CONFIG_MODULE_UART_CREATE_CONFIG is not set
+# 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 is not set
+# 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 is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
+# CONFIG_MODULE_PARSE is not set
+# 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 (fixed point lib may be needed)
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_USE_F64 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 is not set
+# CONFIG_MODULE_PID_CREATE_CONFIG is not set
+# 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=y
+CONFIG_MODULE_ERROR_CREATE_CONFIG=y
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# 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 is not set
+# 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_PROG_AVRISPMKII=y
+CONFIG_AVRDUDE_PORT="usb"
+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/main.c b/main.c
index 9c2a25f..7aa50c8 100644 (file)
--- a/main.c
+++ b/main.c
@@ -1,5 +1,5 @@
 /*
- *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *  Copyright 2013 Olivier Matz <zer0@droids-corp.org>
  *
  *  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
@@ -15,47 +15,100 @@
  *  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 1.4.6.3 2007-05-28 12:55:48 zer0 Exp $
- *
  */
 
 #include <aversive.h>
 #include <aversive/wait.h>
 
-#include <stdio.h>
-#include <string.h>
+#define TX_ENABLE_BIT 2
+#define TX_ENABLE()   PORTB |= _BV(TX_ENABLE_BIT)
+#define TX_DISABLE()  PORTB &= (~_BV(TX_ENABLE_BIT))
+
+#define TX_BIT 1
+#define TX_ON()       PORTB |= _BV(TX_BIT)
+#define TX_OFF()      PORTB &= (~_BV(TX_BIT))
 
-#define TX_ENABLE_PORT 2
-#define DATA_PORT 1
-#define BUZZER_PORT 0
+#define BUZZER_BIT 0
+#define BUZZER_ON()   PORTB |= _BV(BUZZER_BIT)
+#define BUZZER_OFF()  PORTB &= (~_BV(BUZZER_BIT))
 
-#define TX_ON()       sbi(PORTB, TX_ENABLE_PORT)
-#define TX_OFF()      cbi(PORTB, TX_ENABLE_PORT)
+#define BUTTON_IS_PRESSED() 0
 
-#define DATA_ON()       sbi(PORTB, DATA_PORT)
-#define DATA_OFF()      cbi(PORTB, DATA_PORT)
+/* wait new period: timer unit is us: 250 -> 4 khz */
+static void wait_period(void)
+{
+       static uint8_t prev = 0;
+       uint8_t cur, diff;
+
+       do {
+               cur = TCNT0;
+               diff = cur - prev;
+       } while (diff < 250);
+       prev = cur;
+}
 
 int main(void)
 {
-       int i;
+       uint8_t button_filter = 0;
+       uint16_t time_period = 0;
+       uint32_t time_second = 0;
+       uint8_t always_on = 1;
+       uint8_t button = 0;
 
        /* PORTB TX/DATA out*/
-       DDRB |= (1 << TX_ENABLE_PORT) |
-               (1 << DATA_PORT) |
-               (1 << BUZZER_PORT);
+       DDRB |= (1 << TX_ENABLE_BIT) |
+               (1 << TX_BIT) |
+               (1 << BUZZER_BIT);
 
+       /* init timer */
+       TCCR0A = 0;
+       TCCR0B = (1 << CS01); /* clk/8 = 1Mhz */
 
        while (1) {
-               PORTB &= ~(1 << TX_ENABLE_PORT);
-               wait_ms(500);
-               PORTB |= (1 << TX_ENABLE_PORT);
-               for (i=0;i<100; i++) {
-                       PORTB |= (1 << DATA_PORT);
-                       PORTB |= (1 << BUZZER_PORT);
-                       _delay_us(1000);
-                       PORTB &= ~(1 << DATA_PORT);
-                       PORTB &= ~(1 << BUZZER_PORT);
-                       _delay_us(1000);
+               wait_period();
+
+               /* buzzer at 2 Khz after 10mns if not always on */
+               if (always_on || time_second > 600) {
+                       if ((time_period & 1) && (time_period < 500))
+                               BUZZER_ON();
+                       else
+                               BUZZER_OFF();
+               }
+               else
+                       BUZZER_OFF();
+
+               /* radio at 500 Hz */
+               if (time_period < 500) {
+                       TX_ENABLE();
+                       if (time_period & 4)
+                               TX_ON();
+                       else
+                               TX_OFF();
+               }
+               else
+                       TX_DISABLE();
+
+               /* process next time vars */
+               time_period++;
+               if (time_period >= 4000) {
+                       time_period = 0;
+                       time_second ++;
+               }
+
+               /* filter button */
+               button = 0;
+               if (BUTTON_IS_PRESSED() && button_filter < 10)
+                       button_filter++;
+               else if (BUTTON_IS_PRESSED() && button_filter == 10)
+                       button = 1;
+               else if (!BUTTON_IS_PRESSED())
+                       button_filter = 0;
+
+               /* change mode if button is pressed */
+               if (button) {
+                       time_period = 0;
+                       time_second = 0;
+                       always_on = !always_on;
                }
        }