2 * Copyright Droids Corporation (2010)
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: main.c,v 1.8 2009-05-02 10:08:09 zer0 Exp $
26 #include <aversive/wait.h>
33 #include <vect_base.h>
38 #include "uart_proto.h"
46 #include "board2010.h"
48 #include "board2006.h"
51 /******************* TSOP */
53 struct detected_frame {
74 #define FRAME_RING_ORDER 4
75 #define FRAME_RING_SIZE (1<<FRAME_RING_ORDER)
76 #define FRAME_RING_MASK (FRAME_RING_SIZE-1)
79 struct detected_frame ring[FRAME_RING_SIZE];
82 static struct frame_status static_beacon;
83 static struct frame_status opp_beacon;
84 static uint16_t tick = 0;
87 #define MAX_DIST 3500.
89 /* in ticks (=CS_PERIOD), age before the entry is removed from ring */
90 #define MAX_CAP_AGE 30
92 /********************** CS */
94 /* 8ms, easier if it's a pow of 2 */
95 #define CS_PERIOD_US (8192)
96 #define CS_PERIOD ((uint16_t)(CS_PERIOD_US/4))
97 #define CPT_ICR_MAX (uint8_t)((1000000UL/(uint32_t)CS_PERIOD_US)) /* too slow = 1 tr/s */
98 #define CPT_ICR_MIN (uint8_t)((10000UL/(uint32_t)CS_PERIOD_US)) /* too fast = 100 tr/s */
101 #define CS_CONSIGN (20 * 1000L)
103 /* 5% tolerance to validate captures, period is in */
104 #define TIM3_UNIT 250000000L
105 #define MOTOR_PERIOD_MIN ((uint32_t)((250000000L/CS_CONSIGN) * 0.95))
106 #define MOTOR_PERIOD_MAX ((uint32_t)((250000000L/CS_CONSIGN) * 1.05))
109 * - clear on timer compare (CTC)
110 * - Toggle OC0 on compare match
112 #define LASER_ON() do { TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00); } while (0)
113 #define LASER_OFF() do { TCCR0 = 0; } while (0)
115 struct beacon_tsop beacon_tsop;
116 uint32_t cs_consign = CS_CONSIGN;
118 static uint32_t current_motor_period;
120 void debug_serial(void)
125 c = uart_recv_nowait(0);
127 printf("%c", (char)(c+1));
136 void debug_tsop(void)
150 /* val is 16 bits, including 4 bits-cksum in MSB, return 0xFFFF is
151 * cksum is wrong, or the 12 bits value on success. */
152 static uint16_t verify_cksum(uint16_t val)
157 /* add the four 4-bits blocks of val together */
161 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
164 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
167 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
170 return 0xffff; /* wrong cksum */
173 static inline void decode_frame(struct frame_status *status,
174 uint16_t ref_time, uint16_t cur_time, uint8_t cur_tsop)
176 uint16_t diff_time = cur_time - status->prev_time;
178 /* first rising edge */
179 if (status->len == 0 && cur_tsop && diff_time > status->time_long) {
183 status->start_time = cur_time;
184 status->ref_time = ref_time;
187 /* any short pulse */
188 else if (status->len != 0 && diff_time < status->time_short) {
189 if (status->len & 1) {
191 status->frame |= status->mask;
197 else if (status->len != 0 && diff_time < status->time_long) {
198 status->val = !status->val;
200 status->frame |= status->mask;
204 /* error case, reset */
210 if (status->len == status->frame_len*2) {
211 uint8_t tail_next = (status->tail+1) & FRAME_RING_MASK;
214 frame_mask = (1 << status->frame_len) - 1;
216 if (tail_next != status->head) {
217 status->ring[status->tail].frame = (status->frame & frame_mask);
218 status->ring[status->tail].ref_time = status->ref_time;
219 status->ring[status->tail].time = status->start_time;
220 status->ring[status->tail].tick = tick;
221 status->tail = tail_next;
227 status->prev_time = cur_time;
228 status->prev_tsop = cur_tsop;
232 SIGNAL(SIG_TSOP_STA) {
233 static uint8_t running = 0;
242 cur_tsop = TSOP_STA_READ();
244 /* avoid interruption stacking */
255 decode_frame(&static_beacon, ref_time, cur_time, cur_tsop);
261 SIGNAL(SIG_TSOP_OPP) {
262 static uint8_t running = 0;
271 cur_tsop = TSOP_OPP_READ();
273 /* avoid interruption stacking */
284 decode_frame(&opp_beacon, ref_time, cur_time, cur_tsop);
290 static inline int32_t AbS(int32_t x)
298 /* Get the speed of motor (tr / 1000s)
299 * - icr_cpt is the number of CS period between 2 ICR updates
300 * - icr_diff is the difference of ICR values between the ICR updates
301 * (modulo 65536 obviously) */
302 static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff)
304 /* too slow (less than 1 tr/s) */
305 if (icr_cpt >= CPT_ICR_MAX) {
306 current_motor_period = 250000;
310 /* too fast (more than 100 tr/s) */
311 if (icr_cpt <= CPT_ICR_MIN) {
312 current_motor_period = 2500;
316 current_motor_period = icr_diff;
317 return TIM3_UNIT/icr_diff;
320 static int8_t check_sta_frame(uint16_t frame, uint16_t time)
325 /* ignore bad cksum */
326 cksum = verify_cksum(frame);
330 beacon_id = frame & TSOP_STA_BEACON_ID_MASK;
332 if (beacon_id != TSOP_STA_BEACON_ID0 &&
333 beacon_id != TSOP_STA_BEACON_ID1)
336 /* if motor speed is not good, skip values */
337 if (current_motor_period < MOTOR_PERIOD_MIN)
339 if (current_motor_period > MOTOR_PERIOD_MAX)
345 /* display if needed */
346 if (beacon_tsop.debug_frame) {
347 printf("STA ID=%d frame=%x time=%d, cksum=%x\r\n",
348 beacon_id, frame, time, cksum);
354 /* process the received frame ring */
355 static void process_sta_ring(struct frame_status *status)
357 uint8_t head, head_next;
358 uint16_t frame, frametick;
363 uint16_t data0, time0, ref_time0;
368 uint16_t data1, time1, ref_time1;
375 /* remove too old captures from the ring */
376 while (status->head != status->tail) {
377 head_next = (status->head+1) & FRAME_RING_MASK;
378 frametick = status->ring[status->head].tick;
379 if ((uint16_t)(tick - frametick) < MAX_CAP_AGE)
381 status->head = head_next;
385 /* after CS, check if we have a new frame in ring */
386 while (head != status->tail) {
387 head_next = (head+1) & FRAME_RING_MASK;
388 frame = status->ring[head].frame;
390 beacon_id = check_sta_frame(frame, status->ring[head].time);
396 if (beacon_id == TSOP_STA_BEACON_ID0) {
398 data0 = (frame & TSOP_STA_FRAME_DATA_MASK) >> TSOP_STA_FRAME_DATA_SHIFT;
399 time0 = status->ring[head].time;
400 ref_time0 = status->ring[head].ref_time;
402 else if (beacon_id == TSOP_STA_BEACON_ID1) {
404 data1 = (frame & TSOP_STA_FRAME_DATA_MASK) >> TSOP_STA_FRAME_DATA_SHIFT;
405 time1 = status->ring[head].time;
406 ref_time1 = status->ring[head].ref_time;
412 /* if we didn't found beacon 0 and 1, return */
416 /* update ring head */
422 dist0 *= (MAX_DIST-MIN_DIST);
425 time0 = time0 - ref_time0;
426 angle0 = (double)time0 / (double)current_motor_period;
431 angle0 *= (2 * M_PI);
438 dist1 *= (MAX_DIST-MIN_DIST);
441 time1 = time1 - ref_time1;
442 angle1 = (double)time1 / (double)current_motor_period;
447 angle1 *= (2 * M_PI);
451 /* display if needed */
452 if (beacon_tsop.debug_frame) {
453 printf("STA ID=%d dist0=%2.2f angle0=%2.2f dist1=%2.2f angle1=%2.2f\r\n",
454 beacon_id, dist0, angle0 * 180. / M_PI, dist1, angle1 * 180. / M_PI);
457 if (ad_to_posxya(&pos, &a, 0, &beacon0, &beacon1, angle0, dist0,
461 xmit_static((uint16_t)pos.x, (uint16_t)pos.y, (uint16_t)a);
464 static int8_t check_opp_frame(uint16_t frame, uint16_t time)
466 int8_t beacon_id = -1;
469 /* ignore bad cksum */
470 cksum = verify_cksum(frame);
474 beacon_id = frame & TSOP_OPP_BEACON_ID_MASK;
475 if (beacon_id != TSOP_OPP_BEACON_ID)
478 /* if motor speed is not good, skip values */
479 if (current_motor_period < MOTOR_PERIOD_MIN)
481 if (current_motor_period > MOTOR_PERIOD_MAX)
486 /* display if needed */
487 if (beacon_tsop.debug_frame) {
488 printf("OPP ID=%d frame=%x time=%d cksum=%x d=%d\r\n",
489 beacon_id, frame, time, cksum,
490 (frame & TSOP_OPP_FRAME_DATA_MASK) >>
491 TSOP_OPP_FRAME_DATA_SHIFT);
496 /* process the received frame ring */
497 static void process_opp_ring(struct frame_status *status)
502 uint16_t data, time, ref_time;
506 /* after CS, check if we have a new frame in ring */
507 while (status->head != status->tail) {
508 head_next = (status->head+1) & FRAME_RING_MASK;
509 frame = status->ring[status->head].frame;
511 if (check_opp_frame(frame, status->ring[status->head].time) < 0) {
512 status->head = head_next;
517 data = (frame & TSOP_OPP_FRAME_DATA_MASK) >> TSOP_OPP_FRAME_DATA_SHIFT;
518 time = status->ring[status->head].time;
519 ref_time = status->ring[status->head].ref_time;
521 status->head = head_next;
529 dist *= (MAX_DIST-MIN_DIST);
532 time = time - ref_time;
533 angle = (double)time / (double)current_motor_period;
538 angle *= 3600; /* angle in 1/10 deg */
540 /* display if needed */
541 if (beacon_tsop.debug_frame) {
542 printf("OPP dist=%2.2f angle=%2.2f\r\n", dist, angle/10);
544 xmit_opp((uint16_t)dist, (uint16_t)angle);
549 uint16_t prev_cs = 0;
550 uint16_t prev_icr = 0;
552 uint16_t diff_icr = 0;
555 int32_t speed = 0, out, err;
557 uint8_t x = 0; /* debug display counter */
559 opp_beacon.frame_len = TSOP_OPP_FRAME_LEN;
560 opp_beacon.time_long = TSOP_OPP_TIME_LONG;
561 opp_beacon.time_short = TSOP_OPP_TIME_SHORT;
563 static_beacon.frame_len = TSOP_STA_FRAME_LEN;
564 static_beacon.time_long = TSOP_STA_TIME_LONG;
565 static_beacon.time_short = TSOP_STA_TIME_SHORT;
569 DDRB |= 0x10; /* OC0 (laser pwm) */
572 pid_init(&beacon_tsop.pid);
573 pid_set_gains(&beacon_tsop.pid, 700, 10, 0);
574 pid_set_maximums(&beacon_tsop.pid, 0, 200000, 4095);
575 pid_set_out_shift(&beacon_tsop.pid, 10);
576 pid_set_derivate_filter(&beacon_tsop.pid, 4);
579 #if CMDLINE_UART == 0
580 fdevopen(uart0_dev_send, uart0_dev_recv);
581 #elif CMDLINE_UART == 1
582 fdevopen(uart1_dev_send, uart1_dev_recv);
585 rdline_init(&beacon_tsop.rdl, write_char, valid_buffer, complete_buffer);
586 snprintf(beacon_tsop.prompt, sizeof(beacon_tsop.prompt), "beacon > ");
587 rdline_newline(&beacon_tsop.rdl, beacon_tsop.prompt);
592 /* configure external interrupt for TSOP */
593 EICRx_TSOP |= _BV(ISCx0_TSOP_STA) | _BV(ISCx0_TSOP_OPP);
594 EIMSK |= _BV(INTx_TSOP_STA) | _BV(INTx_TSOP_OPP);
597 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
598 TIMER1_PRESCALER_DIV_1);
600 PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, C, 10, 0, NULL, 0);
602 PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, A, 10, 0, NULL, 0);
606 * - clear on timer compare (CTC)
607 * - Toggle OC0 on compare match
609 TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
610 OCR0 = 18; /* f ~= 420 khz at 16 Mhz */
612 /* configure timer 3: CLK/64
613 * it is used as a reference time
614 * enable noise canceller for ICP3 */
615 TCCR3B = _BV(CS11) | _BV(CS10);
619 /* Control system will be done in main loop */
622 /* process pending bytes on uart */
625 /* monitor the value of ICR (which is modified
626 * automatically on TT rising edge). If the value
627 * changed, process the time difference. */
628 if (ETIFR & _BV(ICF3)) {
635 diff_icr = (icr - prev_icr);
639 speed = get_speed(cpt_icr, diff_icr);
642 /* read time reference */
648 if (tcnt3 - prev_cs < CS_PERIOD)
658 /* process CS... maybe we don't need to use
659 * control_system_manager, just PID is enough */
661 if (cpt == CPT_ICR_MAX)
664 /* enabled laser when rotation speed if at least 5tr/s */
665 if (1 || speed > 5000) /* XXX */
670 err = cs_consign - speed;
671 out = pid_do_filter(&beacon_tsop.pid, err);
677 if (x == 0 && beacon_tsop.debug_speed)
678 printf("%ld %ld %u %u / %u\r\n",
679 speed, out, diff_icr, cpt_icr, cpt);
681 pwm_ng_set(&beacon_tsop.pwm_motor, out);
685 /* count the number of CS period between 2 ICR
687 if (cpt < CPT_ICR_MAX)
690 process_sta_ring(&static_beacon);
691 process_opp_ring(&opp_beacon);
693 tick ++; /* global imprecise time reference */