--- /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 1.6 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#include <stdlib.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+
+#include <adc.h>
+#include <scheduler.h>
+#include <pwm_ng.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_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 },
+/* [ADC_BATTERY1] = { .config = ADC_CONF(8), .filter = rii_strong }, */
+/* [ADC_BATTERY2] = { .config = ADC_CONF(9), .filter = rii_strong }, */
+
+ /* 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 1,5,6,7,8
+ */
+static struct sensor_filter sensor_filter[SENSOR_MAX] = {
+ [S_CAP1] = { 1, 0, 0, 1, 0, 0 }, /* 4 */
+ [S_CAP2] = { 1, 0, 0, 1, 0, 0 }, /* 1 */
+ [S_COLUMN_LEFT] = { 1, 0, 0, 1, 0, 1 }, /* 2 */
+ [S_COLUMN_RIGHT] = { 1, 0, 0, 1, 0, 1 }, /* 3 */
+ [S_START_SWITCH] = { 10, 0, 3, 7, 0, 0 }, /* 0 */
+ [S_DISP_LEFT] = { 1, 0, 0, 1, 0, 1 }, /* 5 */
+ [S_DISP_RIGHT] = { 1, 0, 0, 1, 0, 1 }, /* 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 |= ((PINE & _BV(5)) >> 5);
+
+/* 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);
+}
+
+/* virtual obstacle */
+
+#define DISABLE_CPT_MAX 200
+static uint8_t disable = 0; /* used to disable obstacle detection
+ * during some time */
+
+/* called every 10 ms */
+void
+sensor_obstacle_update(void)
+{
+ if (disable > 0) {
+ disable --;
+ if (disable == 0)
+ DEBUG(E_USER_STRAT, "re-enable sensor");
+ }
+}
+
+void sensor_obstacle_disable(void)
+{
+ DEBUG(E_USER_STRAT, "disable sensor");
+ disable = DISABLE_CPT_MAX;
+}
+
+void sensor_obstacle_enable(void)
+{
+ disable = 0;
+}
+
+uint8_t sensor_obstacle_is_disabled(void)
+{
+ return disable;
+}
+
+
+/************ global sensor init */
+
+/* called every 10 ms, see init below */
+static void do_sensors(void *dummy)
+{
+ do_adc(NULL);
+ do_boolean_sensors(NULL);
+ sensor_obstacle_update();
+}
+
+void sensor_init(void)
+{
+ adc_init();
+ 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