X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fstatic_beacon%2Fstatic_beacon.c;fp=projects%2Fmicrob2010%2Ftests%2Fstatic_beacon%2Fstatic_beacon.c;h=7f6b72c263c6bad0565ebee8552690b54e9c05bf;hp=ef6e1aa63b1de2a39c16aa7ed7ed76281c20e0b2;hb=4e68c9b6f30c864b671b5c51affe61d7c9205465;hpb=d6922ca35b126696fc34cfb7714acfa14edd1c4a diff --git a/projects/microb2010/tests/static_beacon/static_beacon.c b/projects/microb2010/tests/static_beacon/static_beacon.c index ef6e1aa..7f6b72c 100755 --- a/projects/microb2010/tests/static_beacon/static_beacon.c +++ b/projects/microb2010/tests/static_beacon/static_beacon.c @@ -41,12 +41,14 @@ //#define NO_MODULATION #define WAIT_LASER -#define MODUL_455KHZ -//#define MODUL_56KHZ +//#define MODUL_455KHZ +#define MODUL_56KHZ //#define MODUL_38KHZ -//#define SPEED_40RPS +//#define INC_FRAME +//#define FIXED_FRAME +//#define SEND_RAWTIME +#define LOCK_BUS #define SPEED_20RPS -//#define SPEED_10RPS /* beacon identifier: must be odd, 3 bits */ #define BEACON_ID 0x1 @@ -106,10 +108,15 @@ #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 0x4A5B /* in little endian */ +#define FRAME 0x621 /* in little endian */ #define FRAME_LEN 16 /* pin returns !0 when nothing, and 0 when laser is on photodiode */ @@ -117,25 +124,11 @@ #define PHOTO_BIT 0 #define READ_PHOTO() (!!(PHOTO_PIN & (_BV(PHOTO_BIT)))) -/* IR_DELAY **must** be < 32768 */ -#if (defined SPEED_10RPS) -#define MIN_INTER_TIME ((uint16_t)(160*2)) /* t~=160us dist=350cm */ -#define MAX_INTER_TIME ((uint16_t)(8000*2)) /* t=8ms dist=10cm */ -#define IR_DELAY ((uint16_t)(8000*2)) -#define INTER_LASER_TIME 30 /* in ms */ -#elif (defined SPEED_20RPS) -#define MIN_INTER_TIME ((uint16_t)(40*16)) /* t~=80us dist=350cm */ -#define MAX_INTER_TIME ((uint16_t)(2000*16)) /* t=2ms dist=? >10cm */ -#define IR_DELAY ((uint16_t)(2000*16)) -#define INTER_LASER_TIME 10 /* in ms */ -#elif (defined SPEED_40RPS) -#define MIN_INTER_TIME ((uint16_t)(40*16)) /* t~=40us dist=350cm */ -#define MAX_INTER_TIME ((uint16_t)(2000*16)) /* t=2ms dist=10cm */ -#define IR_DELAY ((uint16_t)(2000*16)) +/* 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 */ -#else -#error "speed not defined" -#endif extern prog_uint16_t framedist_table[]; /* basic functions to transmit on IR */ @@ -199,7 +192,6 @@ static void xmit_bits(uint32_t frame, uint8_t nbit) xmit_0(); } -#ifdef WAIT_LASER /* 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) @@ -224,22 +216,33 @@ static uint16_t do_cksum(uint16_t val) static uint32_t get_frame(uint16_t laserdiff) { uint32_t frame = 0; - uint16_t frame_dist = 256; - uint16_t step, val; + uint16_t val, mid, min, max; /* for calibration, return the time */ - if (0) - return laserdiff; +#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]); - for (step = 128; step != 0; step /= 2) { - val = pgm_read_word(&framedist_table[frame_dist]); if (laserdiff > val) - frame_dist -= step; + max = mid - 1; else - frame_dist += step; + min = mid; } - frame |= ((uint32_t)(frame_dist & FRAME_DATA_MASK) << FRAME_DATA_SHIFT); + frame |= ((uint32_t)((min << FRAME_DATA_SHIFT) + & FRAME_DATA_MASK)); + frame |= BEACON_ID; /* process cksum and return */ return do_cksum(frame); @@ -254,17 +257,11 @@ static inline int8_t wait_laser(uint16_t *when, uint16_t *laserdiff) uint16_t time1, time2; uint16_t diff; -#if (defined SPEED_40RPS) || (defined SPEED_20RPS) /* set timer to 16Mhz, we will use ICP */ TCCR1A = 0; TCCR1B = _BV(CS10); -#else /* 10 RPS */ - /* set timer to 2Mhz, we will use ICP */ - TCCR1A = 0; - TCCR1B = _BV(CS11); -#endif - /* wait until all is off (inverted logic) */ + /* wait until all is off (inverted logic) */ while (READ_PHOTO() == 0); TIFR = _BV(ICF1); @@ -293,16 +290,20 @@ static inline int8_t wait_laser(uint16_t *when, uint16_t *laserdiff) /* process time difference */ diff = time2 - time1; - if (diff < MIN_INTER_TIME) + if (diff > MAX_INTER_TIME) return -1; + /* + * 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; } -#endif /* */ @@ -310,11 +311,10 @@ int main(void) { /* must be odd */ uint32_t frame = FRAME; -#ifdef WAIT_LASER int8_t ret; uint16_t when = 0; uint16_t diff = 0; -#endif + /* LEDS */ LED_DDR = _BV(LED1_BIT) | _BV(LED2_BIT) | _BV(LED3_BIT); IR_DDR |= _BV(IR_BIT); @@ -377,10 +377,13 @@ int main(void) 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); @@ -395,17 +398,30 @@ int main(void) if (ret) continue; +#endif /* WAIT_LASER */ + +#ifdef LOCK_BUS + if ((LOCKBUS_PIN & _BV(LOCKBUS_BIT)) == 0) + continue; + LOCKBUS_DDR |= _BV(LOCKBUS_BIT); +#endif +#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 +#endif /* WAIT_LASER */ LED3_ON(); /* ok, transmit frame */ @@ -413,6 +429,10 @@ int main(void) LED3_OFF(); +#ifdef LOCK_BUS + LOCKBUS_DDR &= (~_BV(LOCKBUS_BIT)); +#endif + /* don't watch a laser during this time */ wait_ms(INTER_LASER_TIME); }