summaryrefslogtreecommitdiff
path: root/n/accel/accel.c
blob: fb63fc9d5f930cc96e1c6bb0f5e4059cf6de983e (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
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
/* accel.c */
/* accel. {{{
 *
 * Copyright (C) 2004 Thomas Burg
 *
 * 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.
 *
 * Contact :
 *      Email: <burg@efrei.fr>
 * }}} */

/*
 * Brochange :
 * Xout <--> (ICP1)PB0
 * Yout <--> (AIN0)PD6
 *
 */


#include <avr/io.h>
#include <inttypes.h>
#include <avr/signal.h>
#include <avr/interrupt.h>
#include <string.h>
#include <n/avr/rs232/rs232.h>
#include <n/avr/proto/proto.h>
#include <n/avr/utils/utils.h>

#include "calcul.h"
#include "avrconfig.h"

//#define DEBUG

#ifdef DEBUG
#define debug_putc(x) rs232_putc (x)
#else
#define debug_putc(x) 
#endif

/* definition de nouveau type necessaire � l'acquisition 
 * des donn�es
 * */

//enum T_etat {strt_at_Ta, rd_at_Tb, rd_at_Tc, rd_at_Td, calcul };
volatile uint16_t Tb,Tc,Td;
uint16_t Tx,Ty,T2;
int16_t Gx,Gy;
uint16_t Timer1;
int16_t Vx,Vy;
int16_t Dx,Dy;
uint8_t command;

/* Variable Globale
 */

/* Interruption input_capture */

SIGNAL(SIG_INPUT_CAPTURE1)
{
	//code de l'interruption
	switch (etat)
	{
	case strt_at_Ta :
		debug_putc('A');
		TCNT1 = 0; // remise de TCNT1 (counter 16bits)
		TCCR1B &= ~_BV(ICES1); // trigge sur le front descendant
		//TIMSK |= 0x20; //autorise les interruptions Input Capture
		etat = rd_at_Tb;
		break;
	case rd_at_Tb :
		debug_putc('B');
		Tb = ICR1; // sauvegarde du registre Input Capture
		etat = rd_at_Tc;
		//TIMSK &= ~0x20; //d�sactive les interruptions Input Capture
		ACSR |= 0x04; //change d'entr�e : analogue comparator
		TCCR1B |= _BV(ICES1); //trigge sur le front montant
		//TIMSK |= 0x20; // R�active les interruptions Input Capture
		break;
	case rd_at_Tc :
		debug_putc('C');
		Tc = ICR1; // sauvegarde du registre Input Capture
		//TIMSK &= ~0x20; //d�sactive les interruptions Input Capture
		TCCR1B &= ~_BV(ICES1); // trigge sur le front descendant
		//TIMSK |= 0x20; // R�active les interruptions Input Capture
		etat = rd_at_Td;
		break;
	case rd_at_Td :
		debug_putc('D');
		Td = ICR1; // sauvegarde du registre Input Capture
		etat = calcul;
		//TIMSK &= ~0x20; //d�sactive les interruptions Input Capture
		ACSR &= ~0x04; //change d'entr�e : IPC
		TCCR1B |= _BV(ICES1); //trigge sur le front montant
		//TIMSK |= 0x20; // R�active les interruptions Input Capture
		break;
	default :proto_send1('E',3); 
		break; // Ce cas ne doit pas arriver
	}
}

SIGNAL(SIG_OVERFLOW1)
{
	proto_send1('E',1); //erreur 1 Overflow timer/compteur1
}

void
test_callback (uint8_t c, uint8_t argc, proto_arg_t argv[])
{
    //proto_send (c, argc, argv);
    if (argc == 0)
      {
	switch (c)
	  {
	  case 'c' : proto_send0('C');
		     calibration();
		     break;
	  case 'x' : proto_send2('X',Tx >> 8, Tx);
		     break;
	  case 'y' : proto_send2('Y',Ty >> 8, Tx);
		     break;
	  case 'r' : proto_send2('R',T2 >> 8, T2);
		     break;
	  case 't' : proto_send2('T',Timer1 >> 8, Timer1);
		     break;
	  case 'g' : proto_send2('x',Gx >> 8, Gx);
		     proto_send2('y',Gy >> 8, Gy);
		     break;
	  case 'k' : proto_send2('K',T2 >> 8, T2);
		     break;
	  case 'v' : rs232_putc('V');
		     proto_send2('x',Vx >> 8,Vx);
		     rs232_putc('V');
		     proto_send2('y',Vy >> 8,Vy);
		     break;
	  case 'z' : reset();
	  default : proto_send1('E',2); //erreur 2 Command incorrect
	  }
      }
    else 
      {
	if (argc == 1)
	  {
	    if (c == 'i') command = argv[0];
	    else proto_send1('E',4); //erreur 4 command non reconnu
	  }
	else proto_send1('E',5); //Trop d'argument
      }
}

int
main (void)
{
	//initialisation
    	rs232_init();
	proto_init(test_callback,rs232_putc);
		
	proto_send0('Z');
	
	//initialisation du timer prescaler 256
	TCCR1B = _BV(ICES1) | _BV(CS12);
	// Input Capture Interrupt enable & Timer 1 overflow
	TIMSK = _BV(TICIE1) | _BV(TOIE1); 	
	sei ();
	//Boucle
	while(1)
	{
		if ( rs232_poll() )
		{
		  /* polling sur la reception serie
		   * */
		  proto_accept(rs232_getc());
		}
		// calcul des Tons
		if (etat == calcul)
		  {
		    Tx = Tb;	   // Calcul des Ton
		    Ty = Td - Tc;
		    // Todo T2 ne doit pas �tre calculer tout le temps
		    T2 = (Td + Tc - Tb) /2;
		    // remise de TCNT1 pour mesurer le temps
		    TCNT1 = 0;
		    Gx = calculGb(Tx,T2,T1x_cal);
		    Gy = calculGb(Ty,T2,T1y_cal);
		    Vx +=Gx;
		    Vy +=Gy;
		    Timer1 = TCNT1;
		    //remise dans l'�tat de capture
		    //Todo : remettre dans cet �tat plut�t
		    etat = strt_at_Ta;

		    if (command !=0)
		      {
			if (command & 0x01)
			  {
			    proto_send2('P',Tx >> 8,Tx);
			  }
			if (command & 0x02)
			  {
			    proto_send2('Q', Ty >> 8, Ty);
			  }
			if (command & 0x04)
			  {
			    proto_send2('R', Gx >> 8,Gx);
			  }
			if (command & 0x08)
			  {
			    proto_send2('S',Gy >> 8,Gy);
			  }
			if (command & 0x10)
			  {
			    proto_send2('T',Vx >> 8,Vx);
			  }
			if (command & 0x20)
			  {
			    proto_send2('U',Vy >> 8,Vy);
			  }
			if (command & 0x40)
			  {
			    proto_send2('V', Dx >> 8,Dx);
			  }
			if (command & 0x80)
			  {
			    proto_send2('W',Dy >> 8, Dy);
			  }
		      }

		  }
	}
	return 0;
}