summaryrefslogtreecommitdiffhomepage
path: root/digital/rgb/src/test_rvb.c
blob: 00af13d39476341ac037cc65967acdb458ece46c (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
/* test_rvb.c */
/* rvb - Carte de d´┐Żtection 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 ());
      }
}