From 912cc6bd3cb76807e9d56c716fb571ecb1a59cc5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 27 Nov 2008 22:21:40 +0100 Subject: * digital/rgb: - imported rgb board from SI2E sources r426. --- digital/rgb/src/test_rvb.c | 169 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 169 insertions(+) create mode 100644 digital/rgb/src/test_rvb.c (limited to 'digital/rgb/src/test_rvb.c') 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 ()); + } +} + -- cgit v1.2.3