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"
41 #include "i2c_commands.h"
47 #include "board2010.h"
49 #include "board2006.h"
52 /******************* TSOP */
54 struct detected_frame {
75 #define FRAME_RING_ORDER 4
76 #define FRAME_RING_SIZE (1<<FRAME_RING_ORDER)
77 #define FRAME_RING_MASK (FRAME_RING_SIZE-1)
80 struct detected_frame ring[FRAME_RING_SIZE];
83 static struct frame_status static_beacon;
84 static struct frame_status opp_beacon;
85 static uint16_t tick = 0;
88 #define MAX_DIST 3500.
90 /* in ticks (=CS_PERIOD), age before the entry is removed from ring */
91 #define MAX_CAP_AGE 30
93 /********************** CS */
95 /* 8ms, easier if it's a pow of 2 */
96 #define CS_PERIOD_US (8192)
97 #define CS_PERIOD ((uint16_t)(CS_PERIOD_US/4))
98 #define CPT_ICR_MAX (uint8_t)((1000000UL/(uint32_t)CS_PERIOD_US)) /* too slow = 1 tr/s */
99 #define CPT_ICR_MIN (uint8_t)((10000UL/(uint32_t)CS_PERIOD_US)) /* too fast = 100 tr/s */
102 #define CS_CONSIGN (20 * 1000L)
104 /* 5% tolerance to validate captures, period is in */
105 #define TIM3_UNIT 250000000L
106 #define MOTOR_PERIOD_MIN ((uint32_t)((250000000L/CS_CONSIGN) * 0.95))
107 #define MOTOR_PERIOD_MAX ((uint32_t)((250000000L/CS_CONSIGN) * 1.05))
110 * - clear on timer compare (CTC)
111 * - Toggle OC0 on compare match
113 #define LASER_ON() do { TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00); } while (0)
114 #define LASER_OFF() do { TCCR0 = 0; } while (0)
116 struct beacon_tsop beacon_tsop;
117 uint32_t cs_consign = CS_CONSIGN;
119 static uint32_t current_motor_period;
121 void debug_serial(void)
126 c = uart_recv_nowait(0);
128 printf("%c", (char)(c+1));
137 void debug_tsop(void)
151 /* val is 16 bits, including 4 bits-cksum in MSB, return 0xFFFF is
152 * cksum is wrong, or the 12 bits value on success. */
153 static uint16_t verify_cksum(uint16_t val)
158 /* add the four 4-bits blocks of val together */
162 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
165 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
168 cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4);
171 return 0xffff; /* wrong cksum */
174 static inline void decode_frame(struct frame_status *status,
175 uint16_t ref_time, uint16_t cur_time, uint8_t cur_tsop)
177 uint16_t diff_time = cur_time - status->prev_time;
179 /* first rising edge */
180 if (status->len == 0 && cur_tsop && diff_time > status->time_long) {
184 status->start_time = cur_time;
185 status->ref_time = ref_time;
188 /* any short pulse */
189 else if (status->len != 0 && diff_time < status->time_short) {
190 if (status->len & 1) {
192 status->frame |= status->mask;
198 else if (status->len != 0 && diff_time < status->time_long) {
199 status->val = !status->val;
201 status->frame |= status->mask;
205 /* error case, reset */
211 if (status->len == status->frame_len*2) {
212 uint8_t tail_next = (status->tail+1) & FRAME_RING_MASK;
215 frame_mask = (1 << status->frame_len) - 1;
217 if (tail_next != status->head) {
218 status->ring[status->tail].frame = (status->frame & frame_mask);
219 status->ring[status->tail].ref_time = status->ref_time;
220 status->ring[status->tail].time = status->start_time;
221 status->ring[status->tail].tick = tick;
222 status->tail = tail_next;
228 status->prev_time = cur_time;
229 status->prev_tsop = cur_tsop;
233 SIGNAL(SIG_TSOP_STA) {
234 static uint8_t running = 0;
243 cur_tsop = TSOP_STA_READ();
245 /* avoid interruption stacking */
256 decode_frame(&static_beacon, ref_time, cur_time, cur_tsop);
262 SIGNAL(SIG_TSOP_OPP) {
263 static uint8_t running = 0;
272 cur_tsop = TSOP_OPP_READ();
274 /* avoid interruption stacking */
285 decode_frame(&opp_beacon, ref_time, cur_time, cur_tsop);
291 static inline int32_t AbS(int32_t x)
299 /* Get the speed of motor (tr / 1000s)
300 * - icr_cpt is the number of CS period between 2 ICR updates
301 * - icr_diff is the difference of ICR values between the ICR updates
302 * (modulo 65536 obviously) */
303 static inline int32_t get_speed(uint8_t icr_cpt, uint16_t icr_diff)
305 /* too slow (less than 1 tr/s) */
306 if (icr_cpt >= CPT_ICR_MAX) {
307 current_motor_period = 250000;
311 /* too fast (more than 100 tr/s) */
312 if (icr_cpt <= CPT_ICR_MIN) {
313 current_motor_period = 2500;
317 current_motor_period = icr_diff;
318 return TIM3_UNIT/icr_diff;
321 static int8_t check_sta_frame(uint16_t frame, uint16_t time)
326 /* ignore bad cksum */
327 cksum = verify_cksum(frame);
331 beacon_id = frame & TSOP_STA_BEACON_ID_MASK;
333 if (beacon_id != TSOP_STA_BEACON_ID0 &&
334 beacon_id != TSOP_STA_BEACON_ID1)
337 /* if motor speed is not good, skip values */
338 if (current_motor_period < MOTOR_PERIOD_MIN)
340 if (current_motor_period > MOTOR_PERIOD_MAX)
346 /* display if needed */
347 if (beacon_tsop.debug_frame) {
348 printf("STA ID=%d frame=%x time=%d, cksum=%x\r\n",
349 beacon_id, frame, time, cksum);
355 /* process the received frame ring */
356 static void process_sta_ring(struct frame_status *status)
358 uint8_t head, head_next;
359 uint16_t frame, frametick;
364 uint16_t data0, time0, ref_time0;
369 uint16_t data1, time1, ref_time1;
376 /* remove too old captures from the ring */
377 while (status->head != status->tail) {
378 head_next = (status->head+1) & FRAME_RING_MASK;
379 frametick = status->ring[status->head].tick;
380 if ((uint16_t)(tick - frametick) < MAX_CAP_AGE)
382 status->head = head_next;
386 /* after CS, check if we have a new frame in ring */
387 while (head != status->tail) {
388 head_next = (head+1) & FRAME_RING_MASK;
389 frame = status->ring[head].frame;
391 beacon_id = check_sta_frame(frame, status->ring[head].time);
397 if (beacon_id == TSOP_STA_BEACON_ID0) {
399 data0 = (frame & TSOP_STA_FRAME_DATA_MASK) >> TSOP_STA_FRAME_DATA_SHIFT;
400 time0 = status->ring[head].time;
401 ref_time0 = status->ring[head].ref_time;
403 else if (beacon_id == TSOP_STA_BEACON_ID1) {
405 data1 = (frame & TSOP_STA_FRAME_DATA_MASK) >> TSOP_STA_FRAME_DATA_SHIFT;
406 time1 = status->ring[head].time;
407 ref_time1 = status->ring[head].ref_time;
413 /* if we didn't found beacon 0 and 1, return */
417 /* update ring head */
423 dist0 *= (MAX_DIST-MIN_DIST);
426 time0 = time0 - ref_time0;
427 angle0 = (double)time0 / (double)current_motor_period;
432 angle0 *= (2 * M_PI);
439 dist1 *= (MAX_DIST-MIN_DIST);
442 time1 = time1 - ref_time1;
443 angle1 = (double)time1 / (double)current_motor_period;
448 angle1 *= (2 * M_PI);
452 /* display if needed */
453 if (beacon_tsop.debug_frame) {
454 printf("STA ID=%d dist0=%2.2f angle0=%2.2f dist1=%2.2f angle1=%2.2f\r\n",
455 beacon_id, dist0, angle0 * 180. / M_PI, dist1, angle1 * 180. / M_PI);
458 if (ad_to_posxya(&pos, &a, 0, &beacon0, &beacon2, angle0, dist0,
462 /* /!\ angle is between 0 and 3600 */
463 xmit_static((uint16_t)pos.x, (uint16_t)pos.y, (uint16_t)(a*10));
466 static int8_t check_opp_frame(uint16_t frame, uint16_t time)
468 int8_t beacon_id = -1;
471 /* ignore bad cksum */
472 cksum = verify_cksum(frame);
476 beacon_id = frame & TSOP_OPP_BEACON_ID_MASK;
477 if (beacon_id != TSOP_OPP_BEACON_ID)
480 /* if motor speed is not good, skip values */
481 if (current_motor_period < MOTOR_PERIOD_MIN)
483 if (current_motor_period > MOTOR_PERIOD_MAX)
488 /* display if needed */
489 if (beacon_tsop.debug_frame) {
490 printf("OPP ID=%d frame=%x time=%d cksum=%x d=%d\r\n",
491 beacon_id, frame, time, cksum,
492 (frame & TSOP_OPP_FRAME_DATA_MASK) >>
493 TSOP_OPP_FRAME_DATA_SHIFT);
498 /* process the received frame ring */
499 static void process_opp_ring(struct frame_status *status)
504 uint16_t data, time, ref_time;
508 /* after CS, check if we have a new frame in ring */
509 while (status->head != status->tail) {
510 head_next = (status->head+1) & FRAME_RING_MASK;
511 frame = status->ring[status->head].frame;
513 if (check_opp_frame(frame, status->ring[status->head].time) < 0) {
514 status->head = head_next;
519 data = (frame & TSOP_OPP_FRAME_DATA_MASK) >> TSOP_OPP_FRAME_DATA_SHIFT;
520 time = status->ring[status->head].time;
521 ref_time = status->ring[status->head].ref_time;
523 status->head = head_next;
531 dist *= (MAX_DIST-MIN_DIST);
534 time = time - ref_time;
535 angle = (double)time / (double)current_motor_period;
540 angle *= 3600; /* angle in 1/10 deg */
542 /* display if needed */
543 if (beacon_tsop.debug_frame) {
544 printf("OPP dist=%2.2f angle=%2.2f\r\n", dist, angle/10);
546 xmit_opp((uint16_t)dist, (uint16_t)angle);
551 uint16_t prev_cs = 0;
552 uint16_t prev_icr = 0;
554 uint16_t diff_icr = 0;
557 int32_t speed = 0, out, err;
560 uint8_t x = 0; /* debug display counter */
562 opp_beacon.frame_len = TSOP_OPP_FRAME_LEN;
563 opp_beacon.time_long = TSOP_OPP_TIME_LONG;
564 opp_beacon.time_short = TSOP_OPP_TIME_SHORT;
566 static_beacon.frame_len = TSOP_STA_FRAME_LEN;
567 static_beacon.time_long = TSOP_STA_TIME_LONG;
568 static_beacon.time_short = TSOP_STA_TIME_SHORT;
572 DDRB |= 0x10; /* OC0 (laser pwm) */
575 pid_init(&beacon_tsop.pid);
576 pid_set_gains(&beacon_tsop.pid, 700, 10, 0);
577 pid_set_maximums(&beacon_tsop.pid, 0, 200000, 4095);
578 pid_set_out_shift(&beacon_tsop.pid, 10);
579 pid_set_derivate_filter(&beacon_tsop.pid, 4);
582 #if CMDLINE_UART == 0
583 fdevopen(uart0_dev_send, uart0_dev_recv);
584 #elif CMDLINE_UART == 1
585 fdevopen(uart1_dev_send, uart1_dev_recv);
588 rdline_init(&beacon_tsop.rdl, write_char, valid_buffer, complete_buffer);
589 snprintf(beacon_tsop.prompt, sizeof(beacon_tsop.prompt), "beacon > ");
590 rdline_newline(&beacon_tsop.rdl, beacon_tsop.prompt);
595 /* configure external interrupt for TSOP */
596 EICRx_TSOP |= _BV(ISCx0_TSOP_STA) | _BV(ISCx0_TSOP_OPP);
597 EIMSK |= _BV(INTx_TSOP_STA) | _BV(INTx_TSOP_OPP);
600 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
601 TIMER1_PRESCALER_DIV_1);
603 PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, C, 10, 0, NULL, 0);
605 PWM_NG_INIT16(&beacon_tsop.pwm_motor, 1, A, 10, 0, NULL, 0);
609 * - clear on timer compare (CTC)
610 * - Toggle OC0 on compare match
612 TCCR0 = _BV(WGM01) | _BV(COM00) | _BV(CS00);
613 OCR0 = 18; /* f ~= 420 khz at 16 Mhz */
615 /* configure timer 3: CLK/64
616 * it is used as a reference time
617 * enable noise canceller for ICP3 */
618 TCCR3B = _BV(CS11) | _BV(CS10);
622 /* Control system will be done in main loop */
625 /* process pending bytes on uart */
628 /* monitor the value of ICR (which is modified
629 * automatically on TT rising edge). If the value
630 * changed, process the time difference. */
631 if (ETIFR & _BV(ICF3)) {
638 diff_icr = (icr - prev_icr);
642 speed = get_speed(cpt_icr, diff_icr);
645 /* read time reference */
651 if (tcnt3 - prev_cs < CS_PERIOD)
661 /* process CS... maybe we don't need to use
662 * control_system_manager, just PID is enough */
664 if (cpt == CPT_ICR_MAX)
667 /* enabled laser when rotation speed if at least 5tr/s */
668 if (1 || speed > 5000) /* XXX */
673 err = cs_consign - speed;
674 out = pid_do_filter(&beacon_tsop.pid, err);
680 if (x == 0 && beacon_tsop.debug_speed)
681 printf("%ld %ld %u %u / %u\r\n",
682 speed, out, diff_icr, cpt_icr, cpt);
684 pwm_ng_set(&beacon_tsop.pwm_motor, out);
688 /* count the number of CS period between 2 ICR
690 if (cpt < CPT_ICR_MAX)
693 process_sta_ring(&static_beacon);
694 process_opp_ring(&opp_beacon);
696 c = uart_proto_recv();
697 if (c == I2C_COLOR_YELLOW) {
715 tick ++; /* global imprecise time reference */