X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fbeacon.c;fp=projects%2Fmicrob2010%2Fballboard%2Fbeacon.c;h=147a2a90e8070002890bb0dad9c1cb4164fa4c95;hp=0000000000000000000000000000000000000000;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=d78a81c0df6dfe318d873a6f877e53cfb957ad8e

diff --git a/projects/microb2010/ballboard/beacon.c b/projects/microb2010/ballboard/beacon.c
new file mode 100644
index 0000000..147a2a9
--- /dev/null
+++ b/projects/microb2010/ballboard/beacon.c
@@ -0,0 +1,396 @@
+
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <i2c.h>
+#include <ax12.h>
+#include <parse.h>
+#include <rdline.h>
+#include <pwm_ng.h>
+#include <encoders_spi.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <pid.h>
+#include <clock_time.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <adc.h>
+#include <spi.h>
+
+#include <blocking_detection_manager.h>
+
+#include "sensor.h"
+
+#include "../common/i2c_commands.h"
+#include "main.h"
+#include "beacon.h"
+
+struct beacon beacon;
+
+#define BEACON_PWM_VALUE 1000
+#define IR_SENSOR() (!!(PINK&(1<<5)))
+#define MODULO_TIMER (1023L)
+#define COEFF_TIMER (2)
+#define COEFF_MULT (100L)
+#define COEFF_MULT2 (1000L)
+#define BEACON_SIZE (9)
+#define BEACON_MAX_SAMPLE (3)
+
+#define OPPONENT_POS_X (11)
+#define OPPONENT_POS_Y (22)
+
+#define BEACON_DEBUG(args...) DEBUG(E_USER_BEACON, args)
+#define BEACON_NOTICE(args...) NOTICE(E_USER_BEACON, args)
+#define BEACON_ERROR(args...) ERROR(E_USER_BEACON, args)
+
+static volatile int32_t rising = -1;
+static volatile int32_t falling = -1;
+
+static int32_t get_dist(float size);
+static int32_t get_angle(int32_t middle, int32_t ref);
+
+static int32_t pos_ref = 0;
+static int32_t invalid_count = 0;
+
+static volatile int32_t beacon_speed;
+static volatile int32_t beacon_save_count = 0;
+static volatile int32_t beacon_prev_save_count = 0;
+static volatile int32_t count = 0;
+static volatile int32_t count_diff_rising  = 0;
+static volatile int32_t count_diff_falling = 0;
+static int32_t beacon_coeff = 0;
+
+static volatile int8_t valid_beacon = 0;
+
+static volatile int32_t beacon_pos;
+
+//static int32_t beacon_sample_size[BEACON_MAX_SAMPLE];
+
+int32_t encoders_spi_get_value_beacon(void *number)
+{
+	int32_t ret;
+
+	ret = encoders_spi_get_value(number);
+	return ret*4;
+}
+
+void encoders_spi_set_value_beacon(void * number, int32_t v)
+{
+	encoders_spi_set_value(number, v/4);
+}
+
+int32_t encoders_spi_update_beacon_speed(void * number)
+{
+	int32_t ret;
+	uint8_t flags;
+
+	IRQ_LOCK(flags);
+	ret = encoders_spi_get_value_beacon(number);
+	beacon_speed = ret - beacon_pos;
+	beacon_pos = ret;
+	beacon_prev_save_count = beacon_save_count;
+	beacon_save_count = TCNT3;
+	IRQ_UNLOCK(flags);
+
+	beacon_coeff = COEFF_TIMER  * COEFF_MULT;//beacon_speed * COEFF_MULT / ((beacon_prev_save_count - beacon_save_count + MODULO_TIMER + 1)&MODULO_TIMER);
+
+	return beacon_speed;
+}
+
+
+void beacon_init(void)
+{
+	//int8_t i;
+
+	beacon_reset_pos();
+	pos_ref = encoders_spi_get_value_beacon(BEACON_ENCODER);
+
+	memset(&beacon, 0, sizeof(struct beacon));
+	beacon.opponent_x = I2C_OPPONENT_NOT_THERE;
+
+	beacon_speed = 0;
+
+	/*for(i=0;i<BEACON_MAX_SAMPLE;i++)
+		beacon_sample_size[i] = 0;*/
+
+	/* set external interrupt (any edge) */
+	PCMSK2 = (1<<PCINT21);
+	PCICR  = (1<<PCIE2);
+
+
+}
+
+void beacon_calibre_pos(void)
+{
+	ballboard.flags &= ~DO_CS;
+
+	/* init beacon pos */
+	pwm_ng_set(BEACON_PWM, 100);
+
+	/* find rising edge of the mirror*/
+	wait_ms(100);
+	while (sensor_get(BEACON_POS_SENSOR));
+	wait_ms(100);
+	while (!sensor_get(BEACON_POS_SENSOR));
+
+	pwm_ng_set(BEACON_PWM, 0);
+
+
+	beacon_reset_pos();
+	pid_reset(&ballboard.beacon.pid);
+	encoders_spi_set_value_beacon(BEACON_ENCODER, BEACON_OFFSET_CALIBRE);
+
+	cs_set_consign(&ballboard.beacon.cs, 0);
+
+	ballboard.flags |= DO_CS;
+}
+
+void beacon_start(void)
+{
+	beacon_reset_pos();
+	ballboard.beacon.on = 1;
+	cs_set_consign(&ballboard.beacon.cs, 600);
+}
+
+void beacon_stop(void)
+{
+	ballboard.beacon.on = 0;
+	pwm_ng_set(BEACON_PWM, 0);
+}
+
+void beacon_reset_pos(void)
+{
+	pwm_ng_set(BEACON_PWM, 0);
+	encoders_spi_set_value(BEACON_ENCODER, 0);
+}
+
+
+
+int32_t encoders_spi_get_beacon_speed(void * dummy)
+{
+	return beacon_speed;
+}
+
+
+//port K bit 5
+/* motor speed (top tour) */
+SIGNAL(SIG_PIN_CHANGE2)
+{
+	uint8_t flags;
+
+	/* rising edge */
+	if ( IR_SENSOR()) {
+		IRQ_LOCK(flags);
+		count = TCNT3;
+		rising = beacon_pos;
+		count_diff_rising = (count - beacon_save_count + MODULO_TIMER + 1)&MODULO_TIMER;
+		valid_beacon = 0;
+		IRQ_UNLOCK(flags);
+
+	}
+	/* falling edge */
+	else {
+		IRQ_LOCK(flags);
+		count = TCNT3;
+		falling = beacon_pos;
+		count_diff_falling = (count - beacon_save_count + MODULO_TIMER + 1)&MODULO_TIMER;
+		valid_beacon = 1;
+		IRQ_UNLOCK(flags);
+	}
+}
+
+void beacon_calc(void *dummy)
+{
+	static uint8_t a=0;
+	static int32_t local_rising, local_falling;
+	static int32_t middle;
+	static float size = 0;
+	int32_t local_angle;
+	int32_t local_dist;
+
+	int32_t local_count_diff_rising ;
+	int32_t local_count_diff_falling ;
+	int32_t local_beacon_coeff;
+
+	int32_t result_x=0;
+	int32_t result_y=0;
+	int32_t temp=0;
+	int32_t edge=0;
+	//int32_t total_size=0;
+
+	uint8_t flags;
+	//uint8_t i;
+	int8_t local_valid;
+
+	if(a)
+		LED4_ON();
+	else
+		LED4_OFF();
+
+	a = !a;
+
+	if (falling == -1){
+		/* 0.5 second timeout */
+		if (invalid_count < 25)
+			invalid_count++;
+		else {
+			IRQ_LOCK(flags);
+			beacon.opponent_x = I2C_OPPONENT_NOT_THERE;
+			IRQ_UNLOCK(flags);
+		}
+		return;
+	}
+
+	invalid_count = 0;
+	IRQ_LOCK(flags);
+	local_valid = valid_beacon;
+	local_count_diff_rising  = count_diff_rising;
+	local_count_diff_falling = count_diff_falling ;
+	local_rising = rising;
+	local_falling = falling;
+	local_beacon_coeff = beacon_coeff;
+	IRQ_UNLOCK(flags);
+
+	if (local_valid){
+		invalid_count = 0;
+		//BEACON_DEBUG("rising= %ld\t",local_rising);
+		//BEACON_DEBUG("falling= %ld\r\n",local_falling);
+
+		/* recalculate number of pulse by adding the value of the counter, then put value back into motor's round range */
+		local_rising  = ((local_rising + (local_count_diff_rising * local_beacon_coeff) / COEFF_MULT)) %(BEACON_STEP_TOUR);
+		local_falling = ((local_falling + (local_count_diff_falling * local_beacon_coeff) / COEFF_MULT)) %(BEACON_STEP_TOUR);
+
+		//BEACON_DEBUG("rising1= %ld\t",local_rising);
+		//BEACON_DEBUG("falling1= %ld\r\n",local_falling);
+
+		//BEACON_DEBUG("count diff rising= %ld\t",local_count_diff_rising);
+		//BEACON_DEBUG("count diff falling= %ld\r\n",local_count_diff_falling);
+
+		/* if around 360 deg, rising > falling, so invert both and recalculate size and middle */
+		if(local_falling < local_rising){
+			temp          = local_rising;
+			local_rising  = local_falling;
+			local_falling = temp;
+			size          = BEACON_STEP_TOUR - local_falling + local_rising;
+			middle        = (local_falling + ((int32_t)(size)/2) + BEACON_STEP_TOUR) %(BEACON_STEP_TOUR);
+			edge = local_falling;
+		}
+		/* else rising > falling */
+		else{
+			size   = local_falling - local_rising;
+			middle = local_rising + (size / 2);
+			edge   = local_rising;
+		}
+
+		//for(i=BEACON_MAX_SAMPLE-1;i>0;i--){
+		//	beacon_sample_size[i] = beacon_sample_size[i-1];
+		//	total_size += beacon_sample_size[i];
+		//}
+		//beacon_sample_size[0] = size;
+		//total_size += size;
+		//total_size /= BEACON_MAX_SAMPLE;
+
+		//BEACON_DEBUG("rising2= %ld\t",local_rising);
+		//BEACON_DEBUG("falling2= %ld\r\n",local_falling);
+		/* 			BEACON_DEBUG("size= %ld %ld\t",size, total_size); */
+		BEACON_DEBUG("size= %f\r\n",size);
+		//BEACON_DEBUG("middle= %ld\r\n",middle);
+
+		local_angle = get_angle(middle,0);
+		BEACON_NOTICE("opponent angle= %ld\t",local_angle);
+
+		local_dist = get_dist(size);
+		BEACON_NOTICE("opponent dist= %ld\r\n",local_dist);
+
+		beacon_angle_dist_to_x_y(local_angle, local_dist, &result_x, &result_y);
+
+		IRQ_LOCK(flags);
+		beacon.opponent_x = result_x;
+		beacon.opponent_y = result_y;
+		beacon.opponent_angle = local_angle;
+		beacon.opponent_dist = local_dist;
+		/* for I2C test */
+		//beacon.opponent_x = OPPONENT_POS_X;
+		//beacon.opponent_y = OPPONENT_POS_Y;
+		IRQ_UNLOCK(flags);
+
+		BEACON_NOTICE("opponent x= %ld\t",beacon.opponent_x);
+		BEACON_NOTICE("opponent y= %ld\r\n\n",beacon.opponent_y);
+	}
+	else {
+		BEACON_NOTICE("non valid\r\n\n");
+	}
+
+	falling = -1;
+}
+
+static int32_t get_dist(float size)
+{
+	int32_t dist=0;
+	//int32_t alpha=0;
+
+	//alpha = (size*2*M_PI*COEFF_MULT2);
+	//dist = ((2*BEACON_SIZE*BEACON_STEP_TOUR*COEFF_MULT2)/alpha)/2;
+
+	/* function found by measuring points up to 80cm */
+	//dist = ((size - 600)*(size - 600)) / 2400 +28;
+
+	/* new function */
+	/* dist = a0 + a1*x + a2*x² + a3x³ */
+	dist = 1157.3 + (1.4146*size) + (-0.013508*size*size) + (0.00001488*size*size*size);
+
+	return dist;
+
+}
+
+static int32_t get_angle(int32_t middle, int32_t ref)
+{
+	int32_t ret_angle;
+
+	ret_angle = (middle - ref) * 360 / BEACON_STEP_TOUR;
+
+	if(ret_angle > 360)
+		ret_angle -= 360;
+
+	return ret_angle;
+}
+
+void beacon_angle_dist_to_x_y(int32_t angle, int32_t dist, int32_t *x, int32_t *y)
+{
+	uint8_t flags;
+
+	int32_t local_x;
+	int32_t local_y;
+	int32_t x_opponent;
+	int32_t y_opponent;
+	int32_t local_robot_angle;
+
+	IRQ_LOCK(flags);
+	local_x           = beacon.robot_x;
+	local_y           = beacon.robot_y;
+	local_robot_angle = beacon.robot_angle;
+	IRQ_UNLOCK(flags);
+
+	if (local_robot_angle < 0)
+		local_robot_angle += 360;
+
+	x_opponent = cos((local_robot_angle + angle)* 2 * M_PI / 360)* dist;
+	y_opponent = sin((local_robot_angle + angle)* 2 * M_PI / 360)* dist;
+
+	//BEACON_DEBUG("x_op= %ld\t",x_opponent);
+	//BEACON_DEBUG("y_op= %ld\r\n",y_opponent);
+	//BEACON_NOTICE("robot_x= %ld\t",local_x);
+	//BEACON_NOTICE("robot_y= %ld\t",local_y);
+	//BEACON_NOTICE("robot_angle= %ld\r\n",local_robot_angle);
+
+	*x = local_x + x_opponent;
+	*y = local_y + y_opponent;
+
+}