+++ /dev/null
-/*
- * Copyright Droids Corporation (2009)
- * 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
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * 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: sensor.c,v 1.3 2009-05-27 20:04:07 zer0 Exp $
- *
- */
-
-#include <stdlib.h>
-
-#include <aversive.h>
-#include <aversive/error.h>
-
-#include <adc.h>
-#include <scheduler.h>
-#include <ax12.h>
-#include <pwm_ng.h>
-
-#include <pid.h>
-#include <quadramp.h>
-#include <control_system_manager.h>
-#include <blocking_detection_manager.h>
-
-#include <parse.h>
-#include <rdline.h>
-
-#include "main.h"
-#include "sensor.h"
-
-/************ ADC */
-
-struct adc_infos {
- uint16_t config;
- int16_t value;
- int16_t prev_val;
- int16_t (*filter)(struct adc_infos *, int16_t);
-};
-
-/* reach 90% of the value in 4 samples */
-int16_t rii_light(struct adc_infos *adc, int16_t val)
-{
- adc->prev_val = val + (int32_t)adc->prev_val / 2;
- return adc->prev_val / 2;
-}
-
-/* reach 90% of the value in 8 samples */
-int16_t rii_medium(struct adc_infos *adc, int16_t val)
-{
- adc->prev_val = val + ((int32_t)adc->prev_val * 3) / 4;
- return adc->prev_val / 4;
-}
-
-/* reach 90% of the value in 16 samples */
-int16_t rii_strong(struct adc_infos *adc, int16_t val)
-{
- adc->prev_val = val + ((int32_t)adc->prev_val * 7) / 8;
- return adc->prev_val / 8;
-}
-
-
-#define ADC_CONF(x) ( ADC_REF_AVCC | ADC_MODE_INT | MUX_ADC##x )
-
-/* define which ADC to poll, see in sensor.h */
-static struct adc_infos adc_infos[ADC_MAX] = {
-
- [ADC_CSENSE1] = { .config = ADC_CONF(0), .filter = rii_medium },
- [ADC_CSENSE2] = { .config = ADC_CONF(1), .filter = rii_medium },
- [ADC_CSENSE3] = { .config = ADC_CONF(2), .filter = rii_medium },
- [ADC_CSENSE4] = { .config = ADC_CONF(3), .filter = rii_medium },
-
- /* add adc on "cap" pins if needed */
-/* [ADC_CAP1] = { .config = ADC_CONF(10) }, */
-/* [ADC_CAP2] = { .config = ADC_CONF(11) }, */
-/* [ADC_CAP3] = { .config = ADC_CONF(12) }, */
-/* [ADC_CAP4] = { .config = ADC_CONF(13) }, */
-};
-
-static void adc_event(int16_t result);
-
-/* called every 10 ms, see init below */
-static void do_adc(void *dummy)
-{
- /* launch first conversion */
- adc_launch(adc_infos[0].config);
-}
-
-static void adc_event(int16_t result)
-{
- static uint8_t i = 0;
-
- /* filter value if needed */
- if (adc_infos[i].filter)
- adc_infos[i].value = adc_infos[i].filter(&adc_infos[i],
- result);
- else
- adc_infos[i].value = result;
-
- i ++;
- if (i >= ADC_MAX)
- i = 0;
- else
- adc_launch(adc_infos[i].config);
-}
-
-int16_t sensor_get_adc(uint8_t i)
-{
- int16_t tmp;
- uint8_t flags;
-
- IRQ_LOCK(flags);
- tmp = adc_infos[i].value;
- IRQ_UNLOCK(flags);
- return tmp;
-}
-
-/************ boolean sensors */
-
-
-struct sensor_filter {
- uint8_t filter;
- uint8_t prev;
- uint8_t thres_off;
- uint8_t thres_on;
- uint8_t cpt;
- uint8_t invert;
-};
-
-/* pullup mapping:
- * CAP 5,6,7,8
- * voltage div mapping:
- * CAP 1
- */
-static struct sensor_filter sensor_filter[SENSOR_MAX] = {
- [S_CAP1] = { 1, 0, 0, 1, 0, 0 }, /* 0 */
- [S_CAP2] = { 1, 0, 0, 1, 0, 0 }, /* 1 */
- [S_CAP3] = { 1, 0, 0, 1, 0, 0 }, /* 2 */
- [S_CAP4] = { 1, 0, 0, 1, 0, 0 }, /* 3 */
- [S_CAP5] = { 1, 0, 0, 1, 0, 0 }, /* 4 */
- [S_CAP6] = { 1, 0, 0, 1, 0, 0 }, /* 5 */
- [S_CAP7] = { 1, 0, 0, 1, 0, 0 }, /* 6 */
- [S_CAP8] = { 1, 0, 0, 1, 0, 0 }, /* 7 */
- [S_RESERVED1] = { 10, 0, 3, 7, 0, 0 }, /* 8 */
- [S_RESERVED2] = { 10, 0, 3, 7, 0, 0 }, /* 9 */
- [S_RESERVED3] = { 1, 0, 0, 1, 0, 0 }, /* 10 */
- [S_RESERVED4] = { 1, 0, 0, 1, 0, 0 }, /* 11 */
- [S_RESERVED5] = { 1, 0, 0, 1, 0, 0 }, /* 12 */
- [S_RESERVED6] = { 1, 0, 0, 1, 0, 0 }, /* 13 */
- [S_RESERVED7] = { 1, 0, 0, 1, 0, 0 }, /* 14 */
- [S_RESERVED8] = { 1, 0, 0, 1, 0, 0 }, /* 15 */
-};
-
-/* value of filtered sensors */
-static uint16_t sensor_filtered = 0;
-
-/* sensor mapping :
- * 0-3: PORTK 2->5 (cap1 -> cap4) (adc10 -> adc13)
- * 4-5: PORTL 0->1 (cap5 -> cap6)
- * 6-7: PORTE 3->4 (cap7 -> cap8)
- * 8-15: reserved
- */
-
-uint16_t sensor_get_all(void)
-{
- uint16_t tmp;
- uint8_t flags;
- IRQ_LOCK(flags);
- tmp = sensor_filtered;
- IRQ_UNLOCK(flags);
- return tmp;
-}
-
-uint8_t sensor_get(uint8_t i)
-{
- uint16_t tmp = sensor_get_all();
- return (tmp & _BV(i));
-}
-
-/* get the physical value of pins */
-static uint16_t sensor_read(void)
-{
- uint16_t tmp = 0;
- tmp |= (uint16_t)((PINK & (_BV(2)|_BV(3)|_BV(4)|_BV(5))) >> 2) << 0;
- tmp |= (uint16_t)((PINL & (_BV(0)|_BV(1))) >> 0) << 4;
- tmp |= (uint16_t)((PINE & (_BV(3)|_BV(4))) >> 3) << 6;
- /* add reserved sensors here */
- return tmp;
-}
-
-/* called every 10 ms, see init below */
-static void do_boolean_sensors(void *dummy)
-{
- uint8_t i;
- uint8_t flags;
- uint16_t sensor = sensor_read();
- uint16_t tmp = 0;
-
- for (i=0; i<SENSOR_MAX; i++) {
- if ((1 << i) & sensor) {
- if (sensor_filter[i].cpt < sensor_filter[i].filter)
- sensor_filter[i].cpt++;
- if (sensor_filter[i].cpt >= sensor_filter[i].thres_on)
- sensor_filter[i].prev = 1;
- }
- else {
- if (sensor_filter[i].cpt > 0)
- sensor_filter[i].cpt--;
- if (sensor_filter[i].cpt <= sensor_filter[i].thres_off)
- sensor_filter[i].prev = 0;
- }
-
- if (sensor_filter[i].prev) {
- tmp |= (1UL << i);
- }
- }
- IRQ_LOCK(flags);
- sensor_filtered = tmp;
- IRQ_UNLOCK(flags);
-}
-
-
-
-/************ global sensor init */
-#define BACKGROUND_ADC 0
-
-/* called every 10 ms, see init below */
-static void do_sensors(void *dummy)
-{
- if (BACKGROUND_ADC)
- do_adc(NULL);
- do_boolean_sensors(NULL);
-}
-
-void sensor_init(void)
-{
- adc_init();
- if (BACKGROUND_ADC)
- adc_register_event(adc_event);
- /* CS EVENT */
- scheduler_add_periodical_event_priority(do_sensors, NULL,
- 10000L / SCHEDULER_UNIT,
- ADC_PRIO);
-
-}
-
git.droids-corp.org / aversive.git / blobdiff