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/Makefile | 12 ++++ digital/rgb/src/avrconfig.h | 86 ++++++++++++++++++++++ digital/rgb/src/test_rvb.c | 169 ++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 267 insertions(+) create mode 100644 digital/rgb/src/Makefile create mode 100644 digital/rgb/src/avrconfig.h create mode 100644 digital/rgb/src/test_rvb.c (limited to 'digital/rgb/src') 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 ()); + } +} + -- cgit v1.2.3