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-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
-rw-r--r--digital/io/src/usdist.c125
-rw-r--r--digital/io/src/usdist.h59
6 files changed, 16 insertions, 187 deletions
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"
diff --git a/digital/io/src/usdist.c b/digital/io/src/usdist.c
deleted file mode 100644
index d6fd9730..00000000
--- a/digital/io/src/usdist.c
+++ /dev/null
@@ -1,125 +0,0 @@
-/* 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 "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;
- }
-}
-
diff --git a/digital/io/src/usdist.h b/digital/io/src/usdist.h
deleted file mode 100644
index 9a4a6646..00000000
--- a/digital/io/src/usdist.h
+++ /dev/null
@@ -1,59 +0,0 @@
-#ifndef usdist_h
-#define usdist_h
-/* usdist.h */
-/* 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.
- *
- * }}} */
-
-/*
- * Manage ultrasonic distance sensors using analog to digital converter.
- */
-
-/** Number of sensors. */
-#define USDIST_NB 4
-
-/** 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
-
-/** 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];
-
-/** 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 */