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-rw-r--r--digital/io-hub/src/robospierre/Makefile1
-rw-r--r--digital/io-hub/src/robospierre/avrconfig.h12
-rw-r--r--digital/io-hub/src/robospierre/main.c20
-rw-r--r--digital/io-hub/src/robospierre/simu.host.c14
-rw-r--r--digital/io-hub/src/robospierre/simu.host.h2
-rw-r--r--digital/io-hub/tools/io_hub/mex.py20
6 files changed, 63 insertions, 6 deletions
diff --git a/digital/io-hub/src/robospierre/Makefile b/digital/io-hub/src/robospierre/Makefile
index d69918f5..bd8e920f 100644
--- a/digital/io-hub/src/robospierre/Makefile
+++ b/digital/io-hub/src/robospierre/Makefile
@@ -12,6 +12,7 @@ io_hub_SOURCES = main.c \
chrono.c timer.avr.c simu.host.c
# Modules needed for IO.
MODULES = proto uart twi utils \
+ adc devices/usdist \
math/fixed math/geometry
AI_MODULES = twi_master common utils fsm
# Configuration file.
diff --git a/digital/io-hub/src/robospierre/avrconfig.h b/digital/io-hub/src/robospierre/avrconfig.h
index 0fc2f11d..53e36ccf 100644
--- a/digital/io-hub/src/robospierre/avrconfig.h
+++ b/digital/io-hub/src/robospierre/avrconfig.h
@@ -100,6 +100,18 @@
/** Use internal pull up. */
#define AC_TWI_PULL_UP 0
+/* 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, A, 0) \
+ USDIST_SENSOR (1, A, 1) \
+ USDIST_SENSOR (2, A, 2) \
+ USDIST_SENSOR (3, A, 3)
+
/* io-hub - io/ai board. */
/** TWI address of the io board. */
#define AC_IO_TWI_ADDRESS 10
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 4e75a92e..8d51c469 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -28,6 +28,8 @@
#include "modules/uart/uart.h"
#include "modules/proto/proto.h"
+#include "modules/devices/usdist/usdist.h"
+
#include "timer.h"
#include "chrono.h"
#include "simu.host.h"
@@ -66,6 +68,9 @@ static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
/** Contact stats counters. */
static uint8_t main_stats_contact_, main_stats_contact_cpt_;
+/** US sensors stats counters. */
+static uint8_t main_stats_usdist_, main_stats_usdist_cpt_;
+
/** Main initialisation. */
static void
main_init (void)
@@ -89,6 +94,7 @@ main_init (void)
/* IO modules. */
pwm_init ();
contact_init ();
+ usdist_init ();
/* AI modules. */
logistic_init ();
/* Initialization done. */
@@ -170,6 +176,10 @@ main_loop (void)
/* Update IO modules. */
pwm_update ();
contact_update ();
+ if (usdist_update ())
+ {
+ /* TODO: update radar. */
+ }
/* Update AI modules. */
logistic_update ();
/* Only manage events if slaves are synchronised. */
@@ -191,6 +201,12 @@ main_loop (void)
proto_send1d ('P', contact_all ());
main_stats_contact_cpt_ = main_stats_contact_;
}
+ if (main_stats_usdist_ && !--main_stats_usdist_cpt_)
+ {
+ proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2],
+ usdist_mm[3]);
+ main_stats_usdist_cpt_ = main_stats_usdist_;
+ }
}
}
@@ -269,6 +285,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Contact stats. */
main_stats_contact_ = main_stats_contact_cpt_ = args[0];
break;
+ case c ('U', 1):
+ /* US sensors stats. */
+ main_stats_usdist_ = main_stats_usdist_cpt_ = args[0];
+ break;
default:
/* Unknown commands */
proto_send0 ('?');
diff --git a/digital/io-hub/src/robospierre/simu.host.c b/digital/io-hub/src/robospierre/simu.host.c
index 281a60d6..f7a43eea 100644
--- a/digital/io-hub/src/robospierre/simu.host.c
+++ b/digital/io-hub/src/robospierre/simu.host.c
@@ -28,10 +28,20 @@
#include "modules/utils/utils.h"
#include "modules/host/host.h"
#include "modules/host/mex.h"
+#include "modules/adc/adc.h"
#include "io.h"
/** AVR registers. */
-uint8_t PINA, PINE, PINF;
+uint8_t PORTA, DDRA, PINA, PINE, PINF;
+
+static void
+simu_adc_handle (void *user, mex_msg_t *msg)
+{
+ uint8_t index;
+ uint16_t value;
+ mex_msg_pop (msg, "BH", &index, &value);
+ adc_values[index] = value;
+}
/** Initialise simulation. */
void
@@ -40,6 +50,8 @@ simu_init (void)
const char *mex_instance;
mex_node_connect ();
mex_instance = host_get_instance ("io-hub0", 0);
+ uint8_t mtype = mex_node_reservef ("%s:adc", mex_instance);
+ mex_node_register (mtype, simu_adc_handle, 0);
}
/** Make a simulation step. */
diff --git a/digital/io-hub/src/robospierre/simu.host.h b/digital/io-hub/src/robospierre/simu.host.h
index ed6a002d..6a636851 100644
--- a/digital/io-hub/src/robospierre/simu.host.h
+++ b/digital/io-hub/src/robospierre/simu.host.h
@@ -27,7 +27,7 @@
#ifdef HOST
-extern uint8_t PINA, PINE, PINF;
+extern uint8_t PORTA, DDRA, PINA, PINE, PINF;
#else /* !defined (HOST) */
diff --git a/digital/io-hub/tools/io_hub/mex.py b/digital/io-hub/tools/io_hub/mex.py
index d9568197..22e9e900 100644
--- a/digital/io-hub/tools/io_hub/mex.py
+++ b/digital/io-hub/tools/io_hub/mex.py
@@ -44,9 +44,21 @@ class Mex:
"""
- def __init__ (self):
+ def __init__ (self, node, instance, index):
Observable.__init__ (self)
- self.value = None
+ self.value = 0
+ self.__node = node
+ self.__mtype = node.reserve (instance + ':adc')
+ self.__index = index
+ self.register (self.__notified)
+
+ def __notified (self):
+ m = simu.mex.msg.Msg (self.__mtype)
+ v = int (1024 * self.value / 5)
+ v = min (v, 1023)
+ v = max (0, v)
+ m.push ('BH', self.__index, v)
+ self.__node.send (m)
class PWM (Observable):
"""PWM output.
@@ -110,9 +122,9 @@ class Mex:
self.node.send (m)
def __init__ (self, node, instance = 'io-hub0'):
- self.adc = tuple (self.ADC () for i in range (0, ADC_NB))
+ self.adc = tuple (self.ADC (node, instance, i) for i in range (0, ADC_NB))
self.pwm = tuple (self.PWM () for i in range (0, PWM_NB))
- self.__adc_pwm = self.PWM.Pack (node, instance, self.pwm)
+ self.__pwm_pack = self.PWM.Pack (node, instance, self.pwm)
self.__contact_pack = self.Contact.Pack (node, instance)
self.contact = tuple (self.Contact (self.__contact_pack, i)
for i in range (CONTACT_NB))