From e2ea2a7d57b9a204c08488118aa054b56a1e43fe Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 22 May 2011 22:29:00 +0200 Subject: digital/avr/modules/devices/usdist: new US sensor module --- digital/io/src/Makefile | 3 +- digital/io/src/avrconfig.h | 12 +++++ digital/io/src/main.c | 2 +- digital/io/src/radar.c | 2 +- digital/io/src/usdist.c | 125 --------------------------------------------- digital/io/src/usdist.h | 59 --------------------- 6 files changed, 16 insertions(+), 187 deletions(-) delete mode 100644 digital/io/src/usdist.c delete mode 100644 digital/io/src/usdist.h (limited to 'digital/io/src') diff --git a/digital/io/src/Makefile b/digital/io/src/Makefile index 5cbea0ba..effe9c45 100644 --- a/digital/io/src/Makefile +++ b/digital/io/src/Makefile @@ -6,11 +6,12 @@ PROGS = io io_SOURCES = main.c fsm_queue.c servo.avr.c eeprom.avr.c pwm.c \ switch.avr.c chrono.c timer.avr.c servo_pos.c \ twi_master.c asserv.c mimot.c \ - simu.host.c contact.c usdist.c radar.c \ + simu.host.c contact.c radar.c \ path.c food.c events.host.c \ fsm.host.c init.c move.c top.c hola.c loader.c fsm_AI_gen.avr.c # Modules needed for IO. MODULES = proto uart twi utils adc math/fixed math/geometry path/astar \ + devices/usdist \ trace flash spi AI_MODULES = twi_master common utils fsm # Configuration file. diff --git a/digital/io/src/avrconfig.h b/digital/io/src/avrconfig.h index dd3f2e87..a46b4abe 100644 --- a/digital/io/src/avrconfig.h +++ b/digital/io/src/avrconfig.h @@ -117,6 +117,18 @@ /** Heuristic callback. */ #define AC_ASTAR_HEURISTIC_CALLBACK path_astar_heuristic_callback +/* usdist - Analog US distance sensor. */ +/** Number of sensors. */ +#define AC_USDIST_NB 4 +/** Measuring period, in number of update call. */ +#define AC_USDIST_PERIOD 1 +/** List of space separated sensor definition, see usdist.h. */ +#define AC_USDIST_SENSORS \ + USDIST_SENSOR (0, G, 3) \ + USDIST_SENSOR (1, G, 1) \ + USDIST_SENSOR (2, C, 7) \ + USDIST_SENSOR (3, D, 4) + /* io - io/ai board. */ /** TWI address of the io board. */ #define AC_IO_TWI_ADDRESS 2 diff --git a/digital/io/src/main.c b/digital/io/src/main.c index 22964ddd..016aad36 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -28,6 +28,7 @@ #include "modules/proto/proto.h" #include "modules/utils/utils.h" #include "modules/path/path.h" +#include "modules/devices/usdist/usdist.h" #include "modules/flash/flash.h" #include "modules/trace/trace.h" #include "events.h" @@ -51,7 +52,6 @@ #include "fsm_queue.h" #include "bot.h" #include "servo_pos.h" -#include "usdist.h" #include "radar.h" #include "chrono.h" /* chrono_end_match */ #include "pwm.h" diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c index 1ac982c7..0f61a1bf 100644 --- a/digital/io/src/radar.c +++ b/digital/io/src/radar.c @@ -27,8 +27,8 @@ #include "playground_2010.h" #include "bot.h" -#include "usdist.h" +#include "modules/devices/usdist/usdist.h" #include "modules/math/geometry/geometry.h" #include "modules/math/geometry/distance.h" #include "modules/utils/utils.h" diff --git a/digital/io/src/usdist.c b/digital/io/src/usdist.c deleted file mode 100644 index d6fd9730..00000000 --- a/digital/io/src/usdist.c +++ /dev/null @@ -1,125 +0,0 @@ -/* 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 "timer.h" - -#include "modules/adc/adc.h" -#include "modules/utils/utils.h" -#include "io.h" - -#include "simu.host.h" - -uint16_t usdist_mm[USDIST_NB]; - -/** Describe a sensor. */ -struct usdist_sensor_t -{ - /** ADC number. */ - uint8_t adc; - /** Sync PORT. */ - volatile uint8_t *sync_port; - /** Sync DDR. */ - volatile uint8_t *sync_ddr; - /** Sync bit mask. */ - uint8_t sync_bv; -}; - -/** Define sensors configuration. */ -#define USDIST_SENSOR(adc, p, n) \ - { adc, &IO_PORT_ (p, n), &IO_DDR_ (p, n), IO_BV_ (p, n) } -struct usdist_sensor_t usdist_sensors[USDIST_NB] = { - USDIST_SENSOR (0, G, 3), - USDIST_SENSOR (1, G, 1), - USDIST_SENSOR (2, C, 7), - USDIST_SENSOR (3, D, 4), -}; - -void -usdist_init (void) -{ - uint8_t i; - adc_init (); - for (i = 0; i < USDIST_NB; i++) - { - usdist_mm[i] = 0xffff; - *usdist_sensors[i].sync_port &= ~usdist_sensors[i].sync_bv; - *usdist_sensors[i].sync_ddr |= usdist_sensors[i].sync_bv; - } -} - -uint8_t -usdist_update (void) -{ - /* Current measuring sensor. */ - static uint8_t current; - /* Number of cycles until the measure ends. */ - static uint8_t wait; - /* Set to one once first cycle is done. */ - static uint8_t init; - /* Time to measure? */ - if (wait == 0) - { - if (init) - { - /* Stop sensor. */ - *usdist_sensors[current].sync_port &= - ~usdist_sensors[current].sync_bv; - /* Read ADC value. */ - adc_start (usdist_sensors[current].adc); - 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. Ignore faulty sensors. */ - if (v <= 1024 / 5 / 4) - usdist_mm[current] = 0xffff; - else if (v <= 1024 / 5) - usdist_mm[current] = USDIST_MM_MIN; - else - usdist_mm[current] = USDIST_MM_MIN - + ((uint32_t) (v - 1024 / 5) - * (USDIST_MM_MAX - USDIST_MM_MIN) - / (4 * 1024 / 5)); - if (usdist_mm[current] >= USDIST_MM_TOO_FAR) - usdist_mm[current] = 0xffff; - /* Next. */ - current = (current + 1) % USDIST_NB; - } - init = 1; - /* Prepare next measure. */ - *usdist_sensors[current].sync_port |= - usdist_sensors[current].sync_bv; - wait = USDIST_PERIOD_CYCLE; - /* New mesure done. */ - return 1; - } - else - { - wait--; - return 0; - } -} - diff --git a/digital/io/src/usdist.h b/digital/io/src/usdist.h deleted file mode 100644 index 9a4a6646..00000000 --- a/digital/io/src/usdist.h +++ /dev/null @@ -1,59 +0,0 @@ -#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 - -/** Measuring period in cycles. */ -#define USDIST_PERIOD_CYCLE (uint8_t) (8.0 / TIMER_PERIOD_MS) - -/** 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. - * - returns: non zero if sensor value has been updated. */ -uint8_t -usdist_update (void); - -#endif /* usdist_h */ -- cgit v1.2.3