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/avr/modules/devices/usdist/Makefile.module | 1 + digital/avr/modules/devices/usdist/README | 23 ++++ digital/avr/modules/devices/usdist/avrconfig.h | 40 +++++++ digital/avr/modules/devices/usdist/usdist.c | 122 ++++++++++++++++++++ digital/avr/modules/devices/usdist/usdist.h | 58 ++++++++++ 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 ---------- 11 files changed, 260 insertions(+), 187 deletions(-) create mode 100644 digital/avr/modules/devices/usdist/Makefile.module create mode 100644 digital/avr/modules/devices/usdist/README create mode 100644 digital/avr/modules/devices/usdist/avrconfig.h create mode 100644 digital/avr/modules/devices/usdist/usdist.c create mode 100644 digital/avr/modules/devices/usdist/usdist.h delete mode 100644 digital/io/src/usdist.c delete mode 100644 digital/io/src/usdist.h (limited to 'digital') diff --git a/digital/avr/modules/devices/usdist/Makefile.module b/digital/avr/modules/devices/usdist/Makefile.module new file mode 100644 index 00000000..61691300 --- /dev/null +++ b/digital/avr/modules/devices/usdist/Makefile.module @@ -0,0 +1 @@ +devices_usdist_SOURCES = usdist.c diff --git a/digital/avr/modules/devices/usdist/README b/digital/avr/modules/devices/usdist/README new file mode 100644 index 00000000..5ddb8aa6 --- /dev/null +++ b/digital/avr/modules/devices/usdist/README @@ -0,0 +1,23 @@ +usdist - Analog US distance sensor support. + +Used with Sensopart UT20-700. + +Copyright (C) 2011 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. diff --git a/digital/avr/modules/devices/usdist/avrconfig.h b/digital/avr/modules/devices/usdist/avrconfig.h new file mode 100644 index 00000000..2a908794 --- /dev/null +++ b/digital/avr/modules/devices/usdist/avrconfig.h @@ -0,0 +1,40 @@ +#ifndef avrconfig_h +#define avrconfig_h +/* avrconfig.h - TWI module configuration template. */ +/* usdist - Analog US distance sensor support. {{{ + * + * Copyright (C) 2011 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. + * + * }}} */ + +/* usdist - Analog US distance sensor. */ +/** Number of sensors. */ +#define AC_USDIST_NB 4 +/** Measuring period, in number of update call. */ +#define AC_USDIST_PERIOD 2 +/** 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) + +#endif /* avrconfig_h */ diff --git a/digital/avr/modules/devices/usdist/usdist.c b/digital/avr/modules/devices/usdist/usdist.c new file mode 100644 index 00000000..75c7899b --- /dev/null +++ b/digital/avr/modules/devices/usdist/usdist.c @@ -0,0 +1,122 @@ +/* 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" + +/* This include is to be defined by user program. */ +#include "simu.host.h" + +uint16_t usdist_mm[AC_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[AC_USDIST_NB] = { + AC_USDIST_SENSORS +}; + +void +usdist_init (void) +{ + uint8_t i; + adc_init (); + for (i = 0; i < AC_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) % AC_USDIST_NB; + } + init = 1; + /* Prepare next measure. */ + *usdist_sensors[current].sync_port |= + usdist_sensors[current].sync_bv; + wait = AC_USDIST_PERIOD; + /* New mesure done. */ + return 1; + } + else + { + wait--; + return 0; + } +} + diff --git a/digital/avr/modules/devices/usdist/usdist.h b/digital/avr/modules/devices/usdist/usdist.h new file mode 100644 index 00000000..37683091 --- /dev/null +++ b/digital/avr/modules/devices/usdist/usdist.h @@ -0,0 +1,58 @@ +#ifndef usdist_h +#define usdist_h +/* usdist.h */ +/* usdist - Analog US distance sensor support. {{{ + * + * Copyright (C) 2011 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. + * + * AC_USDIST_SENSORS should be set to a list of space separated USDIST_SENSOR + * macro calls: + * + * USDIST_SENSOR (adc_number, synchro_io_port, synchro_io_n) + */ + +/** 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[AC_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 */ 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