2 * Copyright Droids Corporation (2009)
3 * Olivier MATZ <zer0@droids-corp.org>
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this program; if not, write to the Free Software
17 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 * Revision : $Id: sensor.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
26 #include <aversive/error.h>
29 #include <scheduler.h>
35 #include <control_system_manager.h>
36 #include <trajectory_manager.h>
37 #include <vect_base.h>
40 #include <obstacle_avoidance.h>
41 #include <blocking_detection_manager.h>
42 #include <robot_system.h>
43 #include <position_manager.h>
57 int16_t (*filter)(struct adc_infos *, int16_t);
60 /* reach 90% of the value in 4 samples */
61 int16_t rii_light(struct adc_infos *adc, int16_t val)
63 adc->prev_val = val + (int32_t)adc->prev_val / 2;
64 return adc->prev_val / 2;
67 /* reach 90% of the value in 8 samples */
68 int16_t rii_medium(struct adc_infos *adc, int16_t val)
70 adc->prev_val = val + ((int32_t)adc->prev_val * 3) / 4;
71 return adc->prev_val / 4;
74 /* reach 90% of the value in 16 samples */
75 int16_t rii_strong(struct adc_infos *adc, int16_t val)
77 adc->prev_val = val + ((int32_t)adc->prev_val * 7) / 8;
78 return adc->prev_val / 8;
82 #define ADC_CONF(x) ( ADC_REF_AVCC | ADC_MODE_INT | MUX_ADC##x )
84 /* define which ADC to poll, see in sensor.h */
85 static struct adc_infos adc_infos[ADC_MAX] = {
86 [ADC_CSENSE1] = { .config = ADC_CONF(0), .filter = rii_medium },
87 [ADC_CSENSE2] = { .config = ADC_CONF(1), .filter = rii_medium },
88 [ADC_CSENSE3] = { .config = ADC_CONF(2), .filter = rii_medium },
89 [ADC_CSENSE4] = { .config = ADC_CONF(3), .filter = rii_medium },
90 [ADC_BATTERY1] = { .config = ADC_CONF(8), .filter = rii_strong },
91 [ADC_BATTERY2] = { .config = ADC_CONF(9), .filter = rii_strong },
93 /* add adc on "cap" pins if needed */
94 /* [ADC_CAP1] = { .config = ADC_CONF(10) }, */
95 /* [ADC_CAP2] = { .config = ADC_CONF(11) }, */
96 /* [ADC_CAP3] = { .config = ADC_CONF(12) }, */
97 /* [ADC_CAP4] = { .config = ADC_CONF(13) }, */
100 static void adc_event(int16_t result);
102 /* called every 10 ms, see init below */
103 static void do_adc(void *dummy)
105 /* launch first conversion */
106 adc_launch(adc_infos[0].config);
109 static void adc_event(int16_t result)
111 static uint8_t i = 0;
113 /* filter value if needed */
114 if (adc_infos[i].filter)
115 adc_infos[i].value = adc_infos[i].filter(&adc_infos[i],
118 adc_infos[i].value = result;
124 adc_launch(adc_infos[i].config);
127 int16_t sensor_get_adc(uint8_t i)
133 tmp = adc_infos[i].value;
138 /************ boolean sensors */
141 struct sensor_filter {
153 static struct sensor_filter sensor_filter[SENSOR_MAX] = {
154 [S_CAP1] = { 1, 0, 0, 1, 0, 0 }, /* 4 */
155 [S_CAP2] = { 1, 0, 0, 1, 0, 0 }, /* 1 */
156 [S_COLUMN_LEFT] = { 1, 0, 0, 1, 0, 1 }, /* 2 */
157 [S_COLUMN_RIGHT] = { 1, 0, 0, 1, 0, 1 }, /* 3 */
158 [S_START_SWITCH] = { 10, 0, 3, 7, 0, 0 }, /* 0 */
159 [S_DISP_LEFT] = { 1, 0, 0, 1, 0, 1 }, /* 5 */
160 [S_DISP_RIGHT] = { 1, 0, 0, 1, 0, 1 }, /* 6 */
161 [S_CAP8] = { 1, 0, 0, 1, 0, 0 }, /* 7 */
162 [S_RESERVED1] = { 10, 0, 3, 7, 0, 0 }, /* 8 */
163 [S_RESERVED2] = { 10, 0, 3, 7, 0, 0 }, /* 9 */
164 [S_RESERVED3] = { 1, 0, 0, 1, 0, 0 }, /* 10 */
165 [S_RESERVED4] = { 1, 0, 0, 1, 0, 0 }, /* 11 */
166 [S_RESERVED5] = { 1, 0, 0, 1, 0, 0 }, /* 12 */
167 [S_RESERVED6] = { 1, 0, 0, 1, 0, 0 }, /* 13 */
168 [S_RESERVED7] = { 1, 0, 0, 1, 0, 0 }, /* 14 */
169 [S_RESERVED8] = { 1, 0, 0, 1, 0, 0 }, /* 15 */
172 /* value of filtered sensors */
173 static uint16_t sensor_filtered = 0;
176 * 0-3: PORTK 2->5 (cap1 -> cap4) (adc10 -> adc13)
177 * 4-5: PORTL 0->1 (cap5 -> cap6)
178 * 6-7: PORTE 3->4 (cap7 -> cap8)
182 uint16_t sensor_get_all(void)
187 tmp = sensor_filtered;
192 uint8_t sensor_get(uint8_t i)
194 uint16_t tmp = sensor_get_all();
195 return (tmp & _BV(i));
198 /* get the physical value of pins */
199 static uint16_t sensor_read(void)
202 tmp |= (uint16_t)((PINK & (_BV(2)|_BV(3)|_BV(4)|_BV(5))) >> 2) << 0;
203 tmp |= (uint16_t)((PINL & (_BV(0)|_BV(1))) >> 0) << 4;
204 tmp |= (uint16_t)((PINE & (_BV(3)|_BV(4))) >> 3) << 6;
205 /* add reserved sensors here */
209 /* called every 10 ms, see init below */
210 static void do_boolean_sensors(void *dummy)
214 uint16_t sensor = sensor_read();
217 for (i=0; i<SENSOR_MAX; i++) {
218 if ((1 << i) & sensor) {
219 if (sensor_filter[i].cpt < sensor_filter[i].filter)
220 sensor_filter[i].cpt++;
221 if (sensor_filter[i].cpt >= sensor_filter[i].thres_on)
222 sensor_filter[i].prev = 1;
225 if (sensor_filter[i].cpt > 0)
226 sensor_filter[i].cpt--;
227 if (sensor_filter[i].cpt <= sensor_filter[i].thres_off)
228 sensor_filter[i].prev = 0;
231 if (sensor_filter[i].prev) {
236 sensor_filtered = tmp;
240 /* virtual obstacle */
242 #define DISABLE_CPT_MAX 200
243 static uint8_t disable = 0; /* used to disable obstacle detection
244 * during some time */
246 /* called every 10 ms */
248 sensor_obstacle_update(void)
253 DEBUG(E_USER_STRAT, "re-enable sensor");
257 void sensor_obstacle_disable(void)
259 DEBUG(E_USER_STRAT, "disable sensor");
260 disable = DISABLE_CPT_MAX;
263 void sensor_obstacle_enable(void)
268 uint8_t sensor_obstacle_is_disabled(void)
274 /************ global sensor init */
276 /* called every 10 ms, see init below */
277 static void do_sensors(void *dummy)
280 do_boolean_sensors(NULL);
281 sensor_obstacle_update();
284 void sensor_init(void)
287 adc_register_event(adc_event);
289 scheduler_add_periodical_event_priority(do_sensors, NULL,
290 10000L / SCHEDULER_UNIT,