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authorNicolas Schodet2008-11-27 22:21:40 +0100
committerNicolas Schodet2008-11-27 22:21:40 +0100
commit912cc6bd3cb76807e9d56c716fb571ecb1a59cc5 (patch)
tree0b7aeb35d77d864c0f1bd6156e20ee978de0b23e /digital/rgb/src
parentb056389636deff65669a0b9cf1b9d6ee025312aa (diff)
* digital/rgb:
- imported rgb board from SI2E sources r426.
Diffstat (limited to 'digital/rgb/src')
-rw-r--r--digital/rgb/src/Makefile12
-rw-r--r--digital/rgb/src/avrconfig.h86
-rw-r--r--digital/rgb/src/test_rvb.c169
3 files changed, 267 insertions, 0 deletions
diff --git a/digital/rgb/src/Makefile b/digital/rgb/src/Makefile
new file mode 100644
index 00000000..791941a9
--- /dev/null
+++ b/digital/rgb/src/Makefile
@@ -0,0 +1,12 @@
+BASE = ../../avr
+AVR_PROGS = test_rvb
+test_rvb_SOURCES = test_rvb.c
+MODULES = proto uart utils
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega64
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/rgb/src/avrconfig.h b/digital/rgb/src/avrconfig.h
new file mode 100644
index 00000000..85af063b
--- /dev/null
+++ b/digital/rgb/src/avrconfig.h
@@ -0,0 +1,86 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* rvb - Carte de détection de couleur. {{{
+ *
+ * Copyright (C) 2006 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2005.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 115200
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL WAIT
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+#endif /* avrconfig_h */
diff --git a/digital/rgb/src/test_rvb.c b/digital/rgb/src/test_rvb.c
new file mode 100644
index 00000000..00af13d3
--- /dev/null
+++ b/digital/rgb/src/test_rvb.c
@@ -0,0 +1,169 @@
+/* test_rvb.c */
+/* rvb - Carte de détection de couleur. {{{
+ *
+ * Copyright (C) 2006 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2005.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * 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.
+ *
+ * }}} */
+#include "common.h"
+#include "io.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+#include "modules/utils/utils.h"
+
+int rvb_output, rvb_output_cpt;
+#ifdef __AVR_ATmega8__
+#define RVB_TIMER TCNT0
+#else
+#define RVB_TIMER TCNT2
+#endif
+
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+/* This macro combine command and size in one integer. */
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ utils_reset ();
+ break;
+ case c ('R', 1):
+ rvb_output_cpt = rvb_output = args[0];
+ break;
+ default:
+ proto_send0 ('?');
+ return;
+ }
+ /* When no error acknoledge. */
+ proto_send (cmd, size, args);
+#undef c
+}
+
+/** Initialise the timer. */
+static inline void
+timer_init (void)
+{
+ TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10,
+ 0, 0, 0, 0, 0, 0, 0, 1);
+ /* Fov = F_io / (prescaler * (TOP + 1))
+ * TOP = 0xffff
+ * prescaler = 1
+ * Tov = 1 / Fov = 4.444 ms */
+}
+
+/** Wait for timer overflow. */
+static inline void
+timer_wait (void)
+{
+ while (!(TIFR & _BV (TOV1)))
+ ;
+ /* Write 1 to clear. */
+ TIFR = _BV (TOV1);
+}
+
+/** Initialise the counter. */
+static inline void
+counter_init (void)
+{
+#ifdef __AVR_ATmega8__
+ TCCR0 = regv (7, 6, 5, 4, 3, CS02, CS01, CS00,
+ 0, 0, 0, 0, 0, 1, 1, 1);
+#else
+ TCCR2 = regv (FOC2, WGM20, COM21, COM20, WGM21, CS22, CS21, CS20,
+ 0 , 0 , 0 , 0 , 0 , 1 , 1 , 1 );
+
+#endif
+ /* Increment on rising edge. */
+}
+
+int
+main (void)
+{
+ uint8_t r, v, b, c;
+ uart0_init ();
+ timer_init ();
+ counter_init ();
+ sei ();
+ proto_send0 ('z');
+#ifdef __AVR_ATmega8__
+ DDRC = 0x0f;
+ PORTC = 0x0e;
+#else
+ DDRC = 0xff;
+ DDRD |= _BV(6);
+ DDRF |= _BV(6) | _BV(7);
+ PORTD &= ~_BV(6);
+ PORTC = 0xff;
+#endif
+ r = v = b = c = 0;
+ while (1)
+ {
+ /* Rouge. */
+#ifdef __AVR_ATmega8__
+ PORTC = 0x3;
+#else
+ PORTF = (PORTF & ~0xC0) | (0 << 6);
+#endif
+ timer_wait ();
+ RVB_TIMER = 0;
+ timer_wait ();
+ r = RVB_TIMER;
+ /* Bleu. */
+#ifdef __AVR_ATmega8__
+ PORTC = 0x7;
+#else
+ PORTF = (PORTF & ~0xC0) | (1 << 6);
+#endif
+ timer_wait ();
+ RVB_TIMER = 0;
+ timer_wait ();
+ b = RVB_TIMER;
+ /* Vert. */
+#ifdef __AVR_ATmega8__
+ PORTC = 0xf;
+#else
+ PORTF = (PORTF & ~0xC0) | (3 << 6);
+#endif
+ timer_wait ();
+ RVB_TIMER = 0;
+ timer_wait ();
+ v = RVB_TIMER;
+ /* Clair. */
+#ifdef __AVR_ATmega8__
+ PORTC = 0xb;
+#else
+ PORTF = (PORTF & ~0xC0) | (2 << 6);
+#endif
+ timer_wait ();
+ RVB_TIMER = 0;
+ timer_wait ();
+ c = RVB_TIMER;
+ /* Envois. */
+ if (rvb_output && !--rvb_output_cpt)
+ {
+ proto_send4b ('R', r, v, b, c);
+ rvb_output_cpt = rvb_output;
+ }
+ while (uart0_poll ())
+ proto_accept (uart0_getc ());
+ }
+}
+