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Diffstat (limited to 'AT91SAM7S256/Source/c_input.c')
-rw-r--r--AT91SAM7S256/Source/c_input.c312
1 files changed, 62 insertions, 250 deletions
diff --git a/AT91SAM7S256/Source/c_input.c b/AT91SAM7S256/Source/c_input.c
index 47ca7c0..2cb9be1 100644
--- a/AT91SAM7S256/Source/c_input.c
+++ b/AT91SAM7S256/Source/c_input.c
@@ -66,63 +66,6 @@ enum
CUSTOM_SETUP = 0x80
};
-
-const SWORD TempConvTable[] =
-{
- 1500, 1460, 1430, 1400, 1380, 1360, 1330, 1310, 1290, 1270, 1250, 1230, 1220, 1200, 1190, 1170,
- 1160, 1150, 1140, 1130, 1110, 1100, 1090, 1080, 1070, 1060, 1050, 1040, 1030, 1020, 1010, 1000,
- 994, 988, 982, 974, 968, 960, 954, 946, 940, 932, 926, 918, 912, 906, 900, 894,
- 890, 884, 878, 874, 868, 864, 858, 854, 848, 844, 838, 832, 828, 822, 816, 812,
- 808, 802, 798, 794, 790, 786, 782, 780, 776, 772, 768, 764, 762, 758, 754, 750,
- 748, 744, 740, 736, 732, 730, 726, 722, 718, 716, 712, 708, 704, 700, 696, 694,
- 690, 688, 684, 682, 678, 674, 672, 668, 666, 662, 660, 656, 654, 650, 648, 644,
- 642, 640, 638, 634, 632, 630, 628, 624, 622, 620, 616, 614, 612, 610, 608, 604,
- 602, 600, 598, 596, 592, 590, 588, 586, 584, 582, 580, 578, 576, 574, 572, 570,
- 568, 564, 562, 560, 558, 556, 554, 552, 550, 548, 546, 544, 542, 540, 538, 536,
- 534, 532, 530, 528, 526, 524, 522, 520, 518, 516, 514, 512, 510, 508, 508, 506,
- 504, 502, 500, 498, 496, 494, 494, 492, 490, 488, 486, 486, 484, 482, 480, 478,
- 476, 476, 474, 472, 470, 468, 468, 466, 464, 462, 460, 458, 458, 456, 454, 452,
- 450, 448, 448, 446, 444, 442, 442, 440, 438, 436, 436, 434, 432, 432, 430, 428,
- 426, 426, 424, 422, 420, 420, 418, 416, 416, 414, 412, 410, 408, 408, 406, 404,
- 404, 402, 400, 398, 398, 396, 394, 394, 392, 390, 390, 388, 386, 386, 384, 382,
- 382, 380, 378, 378, 376, 374, 374, 372, 370, 370, 368, 366, 366, 364, 362, 362,
- 360, 358, 358, 356, 354, 354, 352, 350, 350, 348, 348, 346, 344, 344, 342, 340,
- 340, 338, 338, 336, 334, 334, 332, 332, 330, 328, 328, 326, 326, 324, 322, 322,
- 320, 320, 318, 316, 316, 314, 314, 312, 310, 310, 308, 308, 306, 304, 304, 302,
- 300, 300, 298, 298, 296, 296, 294, 292, 292, 290, 290, 288, 286, 286, 284, 284,
- 282, 282, 280, 280, 278, 278, 276, 274, 274, 272, 272, 270, 270, 268, 268, 266,
- 264, 264, 262, 262, 260, 260, 258, 258, 256, 254, 254, 252, 252, 250, 250, 248,
- 248, 246, 244, 244, 242, 240, 240, 240, 238, 238, 236, 236, 234, 234, 232, 230,
- 230, 228, 228, 226, 226, 224, 224, 222, 220, 220, 218, 218, 216, 216, 214, 214,
- 212, 212, 210, 210, 208, 208, 206, 204, 204, 202, 202, 200, 200, 198, 198, 196,
- 196, 194, 194, 192, 190, 190, 188, 188, 186, 186, 184, 184, 182, 182, 180, 180,
- 178, 178, 176, 176, 174, 174, 172, 172, 170, 170, 168, 168, 166, 166, 164, 164,
- 162, 162, 160, 160, 158, 156, 156, 154, 154, 152, 152, 150, 150, 148, 148, 146,
- 146, 144, 144, 142, 142, 140, 140, 138, 136, 136, 136, 134, 134, 132, 130, 130,
- 128, 128, 126, 126, 124, 124, 122, 122, 120, 120, 118, 118, 116, 116, 114, 114,
- 112, 110, 110, 108, 108, 106, 106, 104, 104, 102, 102, 100, 100, 98, 98, 96,
- 94, 94, 92, 92, 90, 90, 88, 88, 86, 86, 84, 82, 82, 80, 80, 78,
- 78, 76, 76, 74, 74, 72, 72, 70, 70, 68, 68, 66, 66, 64, 62, 62,
- 60, 60, 58, 56, 56, 54, 54, 52, 52, 50, 50, 48, 48, 46, 46, 44,
- 44, 42, 40, 40, 38, 38, 36, 34, 34, 32, 32, 30, 30, 28, 28, 26,
- 24, 24, 22, 22, 20, 20, 18, 16, 16, 14, 14, 12, 12, 10, 10, 8,
- 6, 6, 4, 2, 2, 0, 0, -2, -4, -4, -6, -6, -8, -10, -10, -12,
- -12, -14, -16, - 16, -18, -20, -20, -22, -22, -24, -26, -26, -28, -30, -30, -32,
- -34, -34, -36, -36, -38, -40, -40, -42, -42, -44, -46, -46, -48, -50, -50, -52,
- -54, -54, -56, -58, -58, -60, -60, -62, -64, -66, -66, -68, -70, -70, -72, -74,
- -76, -76, -78, -80, -80, -82, -84, -86, -86, -88, -90, -90, -92, -94, -94, -96,
- -98, -98, -100, -102, -104, -106, -106, -108, -110, -112, -114, -114, -116, -118, -120, -120,
- -122, -124, -126, -128, -130, -130, -132, -134, -136, -138, -140, -142, -144, -146, -146, -148,
- -150, -152, -154, -156, -158, -160, -162, -164, -166, -166, -168, -170, -172, -174, -176, -178,
- -180, -182, -184, -186, -188, -190, -192, -194, -196, -196, -198, -200, -202, -204, -206, -208,
- -210, -212, -214, -216, -218, -220, -224, -226, -228, -230, -232, -234, -236, -238, -242, -246,
- -248, -250, -254, -256, -260, -262, -264, -268, -270, -274, -276, -278, -282, -284, -286, -290,
- -292, -296, -298, -300, -306, -308, -312, -316, -320, -324, -326, -330, -334, -338, -342, -344,
- -348, -354, -358, -362, -366, -370, -376, -380, -384, -388, -394, -398, -404, -410, -416, -420,
- -428, -432, -440, -446, -450, -460, -468, -476, -484, -492, -500, -510, -524, -534, -546, -560,
- -572, -588, -600, -630, -656, -684, -720, -770
-};
-
static IOMAPINPUT IOMapInput;
static VARSINPUT VarsInput;
@@ -150,6 +93,7 @@ void cInputSetupCustomSensor(UBYTE Port);
void cInputCalcSensorValues(UBYTE No);
UBYTE cInputInitColorSensor(UBYTE Port, UBYTE *pInitStatus);
void cInputCalibrateColor(COLORSTRUCT *pC, UWORD *pNewVals);
+SWORD cInputTempConv(UWORD InputVal);
void cInputInit(void* pHeader)
{
@@ -226,8 +170,11 @@ void cInputCtrl(void)
for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++)
{
+ UBYTE sType = IOMapInput.Inputs[Tmp].SensorType;
+ UBYTE *pType = &IOMapInput.Inputs[Tmp].SensorType;
+ UBYTE oldType = VarsInput.OldSensorType[Tmp];
- if ((IOMapInput.Inputs[Tmp].SensorType) != (VarsInput.OldSensorType[Tmp]))
+ if (sType != oldType)
{
/* Clear all variables for this sensor */
@@ -239,9 +186,10 @@ void cInputCtrl(void)
memset(&(VarsInput.VarsColor[Tmp]),0 ,sizeof(VarsInput.VarsColor[Tmp]));
/* Setup the pins for the new sensortype */
- cInputSetupType(Tmp, &(IOMapInput.Inputs[Tmp].SensorType), VarsInput.OldSensorType[Tmp]);
+ cInputSetupType(Tmp, pType, oldType);
+ sType = *pType;
IOMapInput.Inputs[Tmp].InvalidData = INVALID_DATA;
- VarsInput.OldSensorType[Tmp] = IOMapInput.Inputs[Tmp].SensorType;
+ VarsInput.OldSensorType[Tmp] = sType;
}
else
{
@@ -250,12 +198,9 @@ void cInputCtrl(void)
/* A type change has been carried out earlier - waiting for valid data */
/* The color sensor requires special startup sequence with communication */
- if (((IOMapInput.Inputs[Tmp].SensorType) == COLORFULL) ||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLORRED) ||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLORGREEN)||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLORBLUE) ||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLOREXIT) ||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLORNONE))
+ if ((sType == COLORFULL) || (sType == COLORRED) ||
+ (sType == COLORGREEN)|| (sType == COLORBLUE) ||
+ (sType == COLOREXIT) || (sType == COLORNONE))
{
cInputCalcSensorValues(Tmp);
}
@@ -287,158 +232,58 @@ void cInputCtrl(void)
void cInputCalcSensorValues(UBYTE No)
{
+ UBYTE sType = IOMapInput.Inputs[No].SensorType;
- switch(IOMapInput.Inputs[No].SensorType)
+ switch(sType)
{
case SWITCH:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- }
- break;
-
case TEMPERATURE:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- if (InputVal < 290)
- {
- InputVal = 290;
- }
- else
- {
- if (InputVal > 928)
- {
- InputVal = 928;
- }
- }
- InputVal = TempConvTable[(InputVal) - 197];
- InputVal = InputVal + 200;
- InputVal = (UWORD)(((SLONG)InputVal * (SLONG)1023)/(SLONG)900);
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- }
- break;
-
case REFLECTION:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcFullScale(&InputVal, REFLECTIONSENSORMIN, REFLECTIONSENSORPCTDYN, TRUE);
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- }
- break;
-
case ANGLE:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- }
- break;
-
- /* Dual case intended */
case LIGHT_ACTIVE:
case LIGHT_INACTIVE:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcFullScale(&InputVal, NEWLIGHTSENSORMIN, NEWLIGHTSENSORPCTDYN, TRUE);
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
-
- }
- break;
-
- /* Dual case intended */
case SOUND_DB:
case SOUND_DBA:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcFullScale(&InputVal, NEWSOUNDSENSORMIN, NEWSOUNDSENSORPCTDYN, TRUE);
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
-
- }
- break;
-
case CUSTOM:
{
UWORD InputVal;
- /* Setup and read digital IO */
- cInputSetupCustomSensor(No);
- dInputRead0(No, &(IOMapInput.Inputs[No].DigiPinsIn));
- dInputRead1(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+ if (sType == CUSTOM) {
+ /* Setup and read digital IO */
+ cInputSetupCustomSensor(No);
+ dInputRead0(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+ dInputRead1(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+ }
dInputGetRawAd(&InputVal, No);
IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcFullScale(&InputVal, IOMapInput.Inputs[No].CustomZeroOffset, IOMapInput.Inputs[No].CustomPctFullScale, FALSE);
+
+ if (sType == REFLECTION)
+ {
+ cInputCalcFullScale(&InputVal, REFLECTIONSENSORMIN, REFLECTIONSENSORPCTDYN, TRUE);
+ }
+ else if (sType == TEMPERATURE)
+ {
+ if (InputVal < 290)
+ InputVal = 290;
+ else if (InputVal > 928)
+ InputVal = 928;
+ InputVal = cInputTempConv(InputVal - 290);
+ InputVal = InputVal + 200;
+ InputVal = (UWORD)(((SLONG)InputVal * (SLONG)1023)/(SLONG)900);
+ }
+ else if (sType == LIGHT_ACTIVE || sType == LIGHT_INACTIVE)
+ {
+ cInputCalcFullScale(&InputVal, NEWLIGHTSENSORMIN, NEWLIGHTSENSORPCTDYN, TRUE);
+ }
+ else if (sType == SOUND_DB || sType == SOUND_DBA)
+ {
+ cInputCalcFullScale(&InputVal, NEWSOUNDSENSORMIN, NEWSOUNDSENSORPCTDYN, TRUE);
+ }
+ else if (sType == CUSTOM)
+ {
+ cInputCalcFullScale(&InputVal, IOMapInput.Inputs[No].CustomZeroOffset, IOMapInput.Inputs[No].CustomPctFullScale, FALSE);
+ }
cInputCalcSensorValue( InputVal,
&(IOMapInput.Inputs[No].SensorRaw),
&(IOMapInput.Inputs[No].SensorValue),
@@ -449,7 +294,6 @@ void cInputCalcSensorValues(UBYTE No)
&(VarsInput.EdgeCnt[No]),
((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
-
}
break;
@@ -1135,13 +979,6 @@ void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType)
break;
case REFLECTION:
- {
- dInputSetActive(Port);
- dInputClearDigi0(Port);
- dInputClearDigi1(Port);
- }
- break;
-
case ANGLE:
{
dInputSetActive(Port);
@@ -1215,50 +1052,9 @@ void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType)
break;
case COLORFULL:
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- dInputSetInactive(Port);
- dInputSetDigi0(Port);
- dInputSetDirInDigi1(Port);
- IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
- VarsInput.VarsColor[Port].ColorInitState = 0;
-
- }
- break;
-
case COLORRED:
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- dInputSetInactive(Port);
- dInputSetDigi0(Port);
- dInputSetDirInDigi1(Port);
- IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
- VarsInput.VarsColor[Port].ColorInitState = 0;
- }
- break;
-
case COLORGREEN:
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- dInputSetInactive(Port);
- dInputSetDigi0(Port);
- dInputSetDirInDigi1(Port);
- IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
- VarsInput.VarsColor[Port].ColorInitState = 0;
- }
- break;
-
case COLORBLUE:
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- dInputSetInactive(Port);
- dInputSetDigi0(Port);
- dInputSetDirInDigi1(Port);
- IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
- VarsInput.VarsColor[Port].ColorInitState = 0;
- }
- break;
-
case COLORNONE:
{
VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
@@ -1324,6 +1120,22 @@ void cInputSetupCustomSensor(UBYTE Port)
}
+SWORD cInputTempConv(UWORD InputVal)
+{
+ static const long long TempCoeff[] = { -5425ll, 9261399ll, -6686663252ll,
+ 2573629857807ll, -822478326197838ll, 195856762719738784ll };
+ const unsigned int TempCoeffShift = 48;
+ /* Replace the original table with polynomial. */
+ int i;
+ long long Input = InputVal;
+ long long Output = TempCoeff[0];
+ for (i = 1; i < sizeof TempCoeff / sizeof TempCoeff[0]; i++)
+ Output = Output * Input + TempCoeff[i];
+ /* Round. */
+ return Output + (1ll << TempCoeffShift - 1) >> TempCoeffShift;
+}
+
+
UBYTE cInputInitColorSensor(UBYTE Port, UBYTE *pInitStatus)
{