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-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.c122
-rw-r--r--digital/avr/modules/devices/usdist/usdist.h58
5 files changed, 244 insertions, 0 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/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 */