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-rw-r--r--digital/rgb/src/test_rvb.c169
1 files changed, 169 insertions, 0 deletions
diff --git a/digital/rgb/src/test_rvb.c b/digital/rgb/src/test_rvb.c
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+/* test_rvb.c */
+/* rvb - Carte de détection 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 ());
+ }
+}
+