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authorNicolas Schodet2011-05-22 22:29:00 +0200
committerNicolas Schodet2011-05-22 22:33:17 +0200
commite2ea2a7d57b9a204c08488118aa054b56a1e43fe (patch)
tree1abda198304b4192fe44f360f7f370f04742d482 /digital
parent4d89714a05aeb17126d206e6003bf922a37966ab (diff)
digital/avr/modules/devices/usdist: new US sensor module
Diffstat (limited to 'digital')
-rw-r--r--digital/avr/modules/devices/usdist/Makefile.module1
-rw-r--r--digital/avr/modules/devices/usdist/README23
-rw-r--r--digital/avr/modules/devices/usdist/avrconfig.h40
-rw-r--r--digital/avr/modules/devices/usdist/usdist.c (renamed from digital/io/src/usdist.c)19
-rw-r--r--digital/avr/modules/devices/usdist/usdist.h (renamed from digital/io/src/usdist.h)17
-rw-r--r--digital/io/src/Makefile3
-rw-r--r--digital/io/src/avrconfig.h12
-rw-r--r--digital/io/src/main.c2
-rw-r--r--digital/io/src/radar.c2
9 files changed, 96 insertions, 23 deletions
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/io/src/usdist.c b/digital/avr/modules/devices/usdist/usdist.c
index d6fd9730..75c7899b 100644
--- a/digital/io/src/usdist.c
+++ b/digital/avr/modules/devices/usdist/usdist.c
@@ -24,15 +24,15 @@
* }}} */
#include "common.h"
#include "usdist.h"
-#include "timer.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[USDIST_NB];
+uint16_t usdist_mm[AC_USDIST_NB];
/** Describe a sensor. */
struct usdist_sensor_t
@@ -49,12 +49,9 @@ struct usdist_sensor_t
/** 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),
+ { 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
@@ -62,7 +59,7 @@ usdist_init (void)
{
uint8_t i;
adc_init ();
- for (i = 0; i < USDIST_NB; i++)
+ for (i = 0; i < AC_USDIST_NB; i++)
{
usdist_mm[i] = 0xffff;
*usdist_sensors[i].sync_port &= ~usdist_sensors[i].sync_bv;
@@ -106,13 +103,13 @@ usdist_update (void)
if (usdist_mm[current] >= USDIST_MM_TOO_FAR)
usdist_mm[current] = 0xffff;
/* Next. */
- current = (current + 1) % USDIST_NB;
+ current = (current + 1) % AC_USDIST_NB;
}
init = 1;
/* Prepare next measure. */
*usdist_sensors[current].sync_port |=
usdist_sensors[current].sync_bv;
- wait = USDIST_PERIOD_CYCLE;
+ wait = AC_USDIST_PERIOD;
/* New mesure done. */
return 1;
}
diff --git a/digital/io/src/usdist.h b/digital/avr/modules/devices/usdist/usdist.h
index 9a4a6646..37683091 100644
--- a/digital/io/src/usdist.h
+++ b/digital/avr/modules/devices/usdist/usdist.h
@@ -1,9 +1,9 @@
#ifndef usdist_h
#define usdist_h
/* usdist.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+/* usdist - Analog US distance sensor support. {{{
*
- * Copyright (C) 2010 Nicolas Schodet
+ * Copyright (C) 2011 Nicolas Schodet
*
* APBTeam:
* Web: http://apbteam.org/
@@ -27,11 +27,13 @@
/*
* 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)
*/
-/** Number of sensors. */
-#define USDIST_NB 4
-
/** Minimal calibrated distance. */
#define USDIST_MM_MIN 100
@@ -41,11 +43,8 @@
/** 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];
+extern uint16_t usdist_mm[AC_USDIST_NB];
/** Initialise module. */
void
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"