/* 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 "main_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; } }