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-rw-r--r--digital/io/src/Makefile4
-rw-r--r--digital/io/src/main.c34
-rw-r--r--digital/io/src/usdist.c64
-rw-r--r--digital/io/src/usdist.h55
4 files changed, 148 insertions, 9 deletions
diff --git a/digital/io/src/Makefile b/digital/io/src/Makefile
index 2896d528..7600baa9 100644
--- a/digital/io/src/Makefile
+++ b/digital/io/src/Makefile
@@ -4,8 +4,8 @@ BASE = ../../avr
PROGS = io
# Sources to compile.
io_SOURCES = main.c asserv.c servo.avr.c eeprom.avr.c pwm.c \
- switch.avr.c chrono.c main_timer.avr.c servo_pos.c \
- simu.host.c contact.c
+ switch.avr.c chrono.c main_timer.avr.c servo_pos.c \
+ simu.host.c contact.c usdist.c
# Modules needed for IO.
MODULES = proto uart twi utils adc math/fixed path trace flash spi
# Configuration file.
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 42a7ae17..f61f5268 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -45,6 +45,7 @@
#include "fsm.h" /* fsm_* */
#include "bot.h"
#include "servo_pos.h"
+#include "usdist.h"
#include "chrono.h" /* chrono_end_match */
#include "pwm.h"
#include "playground.h"
@@ -75,6 +76,11 @@ enum team_color_e bot_color;
uint8_t main_post_event_for_top_fsm = 0xFF;
/**
+ * US sensors stats counters.
+ */
+static uint8_t main_stats_usdist_, main_stats_usdist_cpt_;
+
+/**
* Asserv stats counters.
*/
static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
@@ -174,6 +180,8 @@ main_init (void)
/* Path module */
path_init (PG_BORDER_DISTANCE, PG_BORDER_DISTANCE,
PG_WIDTH - PG_BORDER_DISTANCE, PG_LENGTH - PG_BORDER_DISTANCE);
+ /* Distance sensors. */
+ usdist_init ();
/* Top. */
top_init ();
/* Init FSM. */
@@ -232,6 +240,9 @@ main_loop (void)
/* Update PWM */
pwm_update ();
+ /* Update US distance sensors. */
+ usdist_update ();
+
/* Update TWI module to get new data from the asserv board */
asserv_update_status ();
@@ -252,6 +263,13 @@ main_loop (void)
main_event_to_fsm ();
}
+ /* Send stats if requested. */
+ if (main_stats_usdist_ && !--main_stats_usdist_cpt_)
+ {
+ proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2],
+ usdist_mm[3]);
+ main_stats_usdist_cpt_ = main_stats_usdist_;
+ }
/* Send asserv stats if needed */
if (main_stats_asserv_ && !--main_stats_asserv_cpt_)
{
@@ -364,14 +382,16 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
}
break;
}
- /* FSM commands */
+
+ /* Stats commands.
+ * - b: interval between stats. */
+ case c ('U', 1):
+ /* US sensors stats. */
+ main_stats_usdist_ = main_stats_usdist_cpt_ = args[0];
+ break;
case c ('A', 1):
- {
- /* Get position stats
- * - 1b: frequency.
- */
- main_stats_asserv_ = main_stats_asserv_cpt_ = args[0];
- }
+ /* Position stats. */
+ main_stats_asserv_ = main_stats_asserv_cpt_ = args[0];
break;
/* Asserv */
diff --git a/digital/io/src/usdist.c b/digital/io/src/usdist.c
new file mode 100644
index 00000000..342358ea
--- /dev/null
+++ b/digital/io/src/usdist.c
@@ -0,0 +1,64 @@
+/* usdist.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT 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.
+ *
+ * }}} */
+#include "common.h"
+#include "usdist.h"
+
+#include "modules/adc/adc.h"
+#include "modules/utils/utils.h"
+#include "io.h"
+
+uint16_t usdist_mm[USDIST_NB];
+
+void
+usdist_init (void)
+{
+ adc_init ();
+}
+
+void
+usdist_update (void)
+{
+ uint8_t i;
+ /* Simple algorithm, just make a conversion for every sensor. This should
+ * be improved because it takes too long. */
+ for (i = 0; i < USDIST_NB; i++)
+ {
+ adc_start (i);
+ while (!adc_checkf ())
+ ;
+ uint16_t v = adc_read ();
+ /* Our sensors return a value between 1 and 5 V proportional to the
+ * distance between calibrated values. */
+ if (v <= 1024 / 5)
+ usdist_mm[i] = USDIST_MM_MIN;
+ else
+ usdist_mm[i] = USDIST_MM_MIN
+ + (uint32_t) (v - 1024 / 5) * (USDIST_MM_MAX - USDIST_MM_MIN)
+ / (4 * 1024 / 5);
+ if (usdist_mm[i] >= USDIST_MM_TOO_FAR)
+ usdist_mm[i] = 0xffff;
+ }
+}
+
diff --git a/digital/io/src/usdist.h b/digital/io/src/usdist.h
new file mode 100644
index 00000000..f5ceef99
--- /dev/null
+++ b/digital/io/src/usdist.h
@@ -0,0 +1,55 @@
+#ifndef usdist_h
+#define usdist_h
+/* usdist.h */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT 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.
+ *
+ * }}} */
+
+/*
+ * Manage ultrasonic distance sensors using analog to digital converter.
+ */
+
+/** Number of sensors. */
+#define USDIST_NB 4
+
+/** Minimal calibrated distance. */
+#define USDIST_MM_MIN 100
+
+/** Maximal calibrated distance. */
+#define USDIST_MM_MAX 700
+
+/** Distance considered as too far to be true. */
+#define USDIST_MM_TOO_FAR 650
+
+/** Array containing the last measures in millimeters. */
+extern uint16_t usdist_mm[USDIST_NB];
+
+/** Initialise module. */
+void
+usdist_init (void);
+
+/** To be called every cycle to update sensor measures. */
+void
+usdist_update (void);
+
+#endif /* usdist_h */