X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;ds=sidebyside;f=projects%2Fmicrob2010%2Ftests%2Fstatic_beacon%2Fstatic_beacon.c;h=7f6b72c263c6bad0565ebee8552690b54e9c05bf;hb=HEAD;hp=c5572b363e53d8321110fb36aa9d87d6305cc90b;hpb=dccae820e0f5c68a3a9c496b63eb8d02102d6ebc;p=aversive.git diff --git a/projects/microb2010/tests/static_beacon/static_beacon.c b/projects/microb2010/tests/static_beacon/static_beacon.c index c5572b3..7f6b72c 100755 --- a/projects/microb2010/tests/static_beacon/static_beacon.c +++ b/projects/microb2010/tests/static_beacon/static_beacon.c @@ -1,7 +1,7 @@ -/* +/* * 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 @@ -20,8 +20,11 @@ * */ +#include + #include #include +#include #include @@ -33,12 +36,49 @@ /* * hfuse: RSTDISBL=1 WTDON=1 SPIEN=0 CKOPT=0 EESAVE=1 BOOTSZ1=0 BOOTSZ0=0 BOOTRST=1 - * lfuse: BODLEVEL=1 BODEN=1 SUT1=1 SUT0=1 CKSEL3=1 CKSEL2=1 CKSEL1=1 CKSEL0=1 + * lfuse: BODLEVEL=1 BODEN=1 SUT1=1 SUT0=1 CKSEL3=1 CKSEL2=1 CKSEL1=1 CKSEL0=1 */ -#define N_PERIODS 10 +//#define NO_MODULATION +#define WAIT_LASER +//#define MODUL_455KHZ +#define MODUL_56KHZ +//#define MODUL_38KHZ +//#define INC_FRAME +//#define FIXED_FRAME +//#define SEND_RAWTIME +#define LOCK_BUS +#define SPEED_20RPS + +/* beacon identifier: must be odd, 3 bits */ +#define BEACON_ID 0x1 +#define BEACON_ID_MASK 0x7 +#define BEACON_ID_SHIFT 0 + +/* */ +#define FRAME_DATA_MASK 0x0FF8 +#define FRAME_DATA_SHIFT 3 + +#if (defined MODUL_455KHZ) +#define N_PERIODS 15 #define N_CYCLES_0 17 #define N_CYCLES_1 17 +#elif (defined MODUL_56KHZ) +#define N_PERIODS 15 +#define N_CYCLES_0 143 +#define N_CYCLES_1 143 +#elif (defined MODUL_38KHZ) +#define N_PERIODS 15 +#define N_CYCLES_0 210 +#define N_CYCLES_1 210 +#else +#error "no freq defined" +#endif + +#define MIN_DIST 150. +#define MAX_DIST 3600. +#define LASER_DIST 25. + #define N_CYCLES_PERIOD (N_CYCLES_0 + N_CYCLES_1) #define LED_PORT PORTD @@ -48,11 +88,11 @@ #define LED3_BIT 7 #define LED_TOGGLE(port, bit) do { \ - if (port & _BV(bit)) \ - port &= ~_BV(bit); \ - else \ - port |= _BV(bit); \ - } while(0) + if (port & _BV(bit)) \ + port &= ~_BV(bit); \ + else \ + port |= _BV(bit); \ + } while(0) #define LED1_ON() sbi(LED_PORT, LED1_BIT) #define LED1_OFF() cbi(LED_PORT, LED1_BIT) @@ -68,64 +108,56 @@ #define IR_DDR DDRB #define IR_BIT 1 +#define LOCKBUS_PORT PORTD +#define LOCKBUS_PIN PIND +#define LOCKBUS_DDR DDRD +#define LOCKBUS_BIT 3 + /* FRAME must be odd */ /* #define FRAME 0x0B /\* in little endian 1-1-0-1 *\/ */ /* #define FRAME_LEN 4 */ -#define FRAME 0xAA5B /* in little endian */ +#define FRAME 0x621 /* in little endian */ #define FRAME_LEN 16 -/* pin returns 1 when nothing, and 0 when laser is on photodiode */ -#define PHOTO_PIN PINC -#define PHOTO1_BIT 0 -#define PHOTO2_BIT 1 -#define READ_PHOTOS() (PHOTO_PIN & (_BV(PHOTO1_BIT) | _BV(PHOTO2_BIT))) -#define READ_PHOTO1() (PHOTO_PIN & _BV(PHOTO1_BIT)) -#define READ_PHOTO2() (PHOTO_PIN & _BV(PHOTO2_BIT)) +/* pin returns !0 when nothing, and 0 when laser is on photodiode */ +#define PHOTO_PIN PINB +#define PHOTO_BIT 0 +#define READ_PHOTO() (!!(PHOTO_PIN & (_BV(PHOTO_BIT)))) -#define PHOTOS_ALL_OFF (_BV(PHOTO1_BIT) | _BV(PHOTO2_BIT)) -#define PHOTOS_ALL_ON (0) -#define PHOTOS_1ON_2OFF (_BV(PHOTO2_BIT)) -#define PHOTOS_1OFF_2ON (_BV(PHOTO1_BIT)) - - -/* in cycles/64 (unit is 4 us at 16Mhz) */ -#define MAX_PHOTO_TIME ((uint8_t)25) /* t=100us len=5mm rps=40Hz dist=20cm */ - -#define MIN_INTER_TIME ((uint8_t)12) /* t=50us len=50mm rps=40Hz dist=350cm */ -#define MAX_INTER_TIME ((uint8_t)250) /* t=1000us len=50mm rps=40Hz dist=20cm */ - -/* in ms */ -#define INTER_LASER_TIME 10 - -#define NO_MODULATION -//#define WAIT_LASER +/* IR_DELAY must be < 32768 */ +#define MIN_INTER_TIME ((uint16_t)(100*16U)) /* t~=160us dist=400cm */ +#define MAX_INTER_TIME ((uint16_t)(4000*16U)) /* t=4ms dist=16cm */ +#define IR_DELAY ((uint16_t)(MAX_INTER_TIME/2)) +#define INTER_LASER_TIME 10 /* in ms */ +extern prog_uint16_t framedist_table[]; /* basic functions to transmit on IR */ static inline void xmit_0(void) { - uint8_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 3); + uint16_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 4); #ifdef NO_MODULATION cbi(IR_PORT, IR_BIT); #else TCCR1B = 0; TCCR1A = 0; #endif - _delay_loop_1(t); /* 3 cycles per loop */ + _delay_loop_2(t); /* 4 cycles per loop */ } static inline void xmit_1(void) { - uint8_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 3); + uint16_t t = ((N_CYCLES_PERIOD * N_PERIODS) / 4); #ifdef NO_MODULATION sbi(IR_PORT, IR_BIT); #else TCCR1B = _BV(WGM13) | _BV(WGM12); TCNT1 = N_CYCLES_PERIOD-1; TCCR1A = _BV(COM1A1) | _BV(WGM11); + ICR1 = N_CYCLES_PERIOD; TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10); #endif - _delay_loop_1(t); /* 3 cycles per loop */ + _delay_loop_2(t); /* 4 cycles per loop */ } /* transmit in manchester code */ @@ -160,60 +192,114 @@ static void xmit_bits(uint32_t frame, uint8_t nbit) xmit_0(); } -/* */ -static inline int8_t wait_laser(void) +/* val is 12 bits. Return the 16 bits value that includes the 4 bits + * cksum in MSB. */ +static uint16_t do_cksum(uint16_t val) +{ + uint16_t x, cksum; + + x = (val & 0xfff); + /* add the three 4-bits blocks of x together */ + cksum = x & 0xf; + x = x >> 4; + cksum += x & 0xf; + cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4); + x = x >> 4; + cksum += x & 0xf; + cksum = (cksum & 0xf) + ((cksum & 0xf0) >> 4); + cksum = (~cksum) & 0xf; + return (cksum << 12) + (val & 0xfff); +} + +/* get the frame from laser time difference, return 0 on error (this + * frame cannot be sent). */ +static uint32_t get_frame(uint16_t laserdiff) { - uint8_t photos; - uint8_t time; - uint8_t diff; + uint32_t frame = 0; + uint16_t val, mid, min, max; + + /* for calibration, return the time */ +#ifdef INC_FRAME + static uint16_t fr = 1; + fr += 2; + return fr; +#endif +#ifdef SEND_RAWTIME + return laserdiff | 1; /* frame must be odd */ +#endif + + min = 0; + max = 511; + while (min != max) { + mid = (max + min + 1) / 2; + val = pgm_read_word(&framedist_table[mid]); - /* wait until all is off */ - while (READ_PHOTOS() != PHOTOS_ALL_OFF); + if (laserdiff > val) + max = mid - 1; + else + min = mid; + } - /* wait an event, it must be photo1 on */ - while ((photos = READ_PHOTOS()) == PHOTOS_ALL_OFF); + frame |= ((uint32_t)((min << FRAME_DATA_SHIFT) + & FRAME_DATA_MASK)); + frame |= BEACON_ID; + + /* process cksum and return */ + return do_cksum(frame); +} + +/* Wait 2 consecutive rising edges on photodiode. Return 0 on success, + * in this case, the 'when' pointed area is assigned to the time when + * IR signal should be sent. The 'laserdiff' pointer is the time + * between the 2 lasers, in timer unit. */ +static inline int8_t wait_laser(uint16_t *when, uint16_t *laserdiff) +{ + uint16_t time1, time2; + uint16_t diff; + + /* set timer to 16Mhz, we will use ICP */ + TCCR1A = 0; + TCCR1B = _BV(CS10); + + /* wait until all is off (inverted logic) */ + while (READ_PHOTO() == 0); + TIFR = _BV(ICF1); + + /* wait falling edge */ + while ((TIFR & _BV(ICF1)) == 0); + time1 = ICR1; - if (photos != PHOTOS_1ON_2OFF) - return -1; - time = TCNT0; LED1_ON(); - /* wait an event, it must be photo1 off */ - while ((photos = READ_PHOTOS()) == PHOTOS_1ON_2OFF) { - diff = TCNT0 - time; - if (diff > MAX_PHOTO_TIME) - return -1; - } - if (photos != PHOTOS_ALL_OFF) - return -1; - //time = TCNT0; + /* wait a bit to avoid oscillations */ + while ((uint16_t)(TCNT1-time1) < MIN_INTER_TIME); + TIFR = _BV(ICF1); - /* wait an event, it must be photo2 on */ - while ((photos = READ_PHOTOS()) == PHOTOS_ALL_OFF) { - diff = TCNT0 - time; + /* wait next falling edge + timeout */ + while ((TIFR & _BV(ICF1)) == 0) { + diff = TCNT1 - time1; if (diff > MAX_INTER_TIME) return -1; } + LED2_ON(); - - diff = TCNT0 - time; - if (diff < MIN_INTER_TIME) - return -1; - if (photos != PHOTOS_1OFF_2ON) - return -1; -#if 0 - time = TCNT0; + /* get time of 2nd laser */ + time2 = ICR1; + TIFR = _BV(ICF1); - /* wait an event, it must be photo2 off */ - while ((photos = READ_PHOTOS()) == PHOTOS_1OFF_2ON) { - diff = TCNT0 - time; - if (diff > MAX_PHOTO_TIME) - return -1; - } - if (photos != PHOTOS_ALL_OFF) + /* process time difference */ + diff = time2 - time1; + if (diff > MAX_INTER_TIME) return -1; -#endif + + /* + * diff/2 is < 32768 + * ir_delay is < 32768 + * current time is ~time1 + diff + */ + *when = time1 + (diff/2) + IR_DELAY; + *laserdiff = diff; /* laser ok */ return 0; @@ -226,7 +312,8 @@ int main(void) /* must be odd */ uint32_t frame = FRAME; int8_t ret; - int16_t c; + uint16_t when = 0; + uint16_t diff = 0; /* LEDS */ LED_DDR = _BV(LED1_BIT) | _BV(LED2_BIT) | _BV(LED3_BIT); @@ -238,8 +325,9 @@ int main(void) #if 0 while (1) { + int16_t c; c = uart_recv_nowait(0); - if (c != -1) + if (c != -1) printf("%c", (char)(c+1)); LED1_ON(); wait_ms(500); @@ -250,7 +338,7 @@ int main(void) #if 0 while (1) { - if (READ_PHOTO() & _BV(PHOTO1_BIT)) + if (READ_PHOTO()) LED1_ON(); else LED1_OFF(); @@ -265,34 +353,88 @@ int main(void) TCCR1B = _BV(WGM13) | _BV(WGM12); #endif +#if 0 + /* test freq */ + ICR1 = N_CYCLES_PERIOD; + OCR1A = N_CYCLES_1; + TCCR1B = _BV(WGM13) | _BV(WGM12); + TCNT1 = N_CYCLES_PERIOD-1; + TCCR1A = _BV(COM1A1) | _BV(WGM11); + TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10); + while (1); +#endif + +#if 0 + /* test freq ~ 400khz */ + ICR1 = 38; + OCR1A = 19; + TCCR1B = _BV(WGM13) | _BV(WGM12); + TCNT1 = 37; + TCCR1A = _BV(COM1A1) | _BV(WGM11); + TCCR1B = _BV(WGM13) | _BV(WGM12) | _BV(CS10); + + /* motor PWM 50%, 8khz */ + DDRB |= 0x08; + OCR2 = 50; + TCCR2 = _BV(WGM21) | _BV(WGM20) | _BV(COM21) | _BV(CS21) ; + + while (1); +#endif + +#ifdef LOCK_BUS + LOCKBUS_PORT &= (~_BV(LOCKBUS_BIT)); +#endif + /* configure timer 0, prescaler = 64 */ TCCR0 = _BV(CS01) | _BV(CS00); while (1) { #ifdef WAIT_LASER - ret = wait_laser(); - + ret = wait_laser(&when, &diff); + LED1_OFF(); LED2_OFF(); if (ret) continue; +#endif /* WAIT_LASER */ + +#ifdef LOCK_BUS + if ((LOCKBUS_PIN & _BV(LOCKBUS_BIT)) == 0) + continue; + LOCKBUS_DDR |= _BV(LOCKBUS_BIT); #endif - -#if 1 + +#ifdef FIXED_FRAME + frame = FRAME; +#else + frame = get_frame(diff); +#endif /* FIXED_FRAME */ + /* cannot convert into frame... skip it */ + if (frame == 0) { + wait_ms(INTER_LASER_TIME); + continue; + } + + +#ifdef WAIT_LASER + /* wait before IR xmit */ + while ((int16_t)(when-TCNT1) > 0); +#endif /* WAIT_LASER */ + LED3_ON(); /* ok, transmit frame */ xmit_bits(frame, FRAME_LEN); - - /* don't watch a laser during this time */ - wait_ms(INTER_LASER_TIME); + LED3_OFF(); -#else - LED1_ON(); - wait_ms(1); - LED1_OFF(); + +#ifdef LOCK_BUS + LOCKBUS_DDR &= (~_BV(LOCKBUS_BIT)); #endif + + /* don't watch a laser during this time */ + wait_ms(INTER_LASER_TIME); } return 0; }