scoutos / scout_avr / src / bom.cpp @ 69c2203a
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1 | f115416e | Tom Mullins | extern "C" { |
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2 | #include <avr/io.h> |
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3 | #include <avr/interrupt.h> |
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4 | #include <util/delay.h> |
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5 | } |
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6 | #include "bom.h" |
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7 | |||
8 | /*
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9 | * Sharp protocol:
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10 | * Period modulation
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11 | * 1: 2ms period
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12 | * 0: 1ms period
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13 | * Signal:
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14 | * 38kHz pulse for 320us, then off for rest of time (680us or 1680us)
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15 | * BOM uses timer 4 for period timing, and timer 3 for 38kHz signal
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16 | */
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17 | |||
18 | #define TIME_KHZ(khz, prescale) (F_CPU / 1000 / (khz) / (prescale)) |
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19 | #define TIME_MICROS(us, prescale) (F_CPU / 1000000 * (us) / (prescale)) |
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20 | |||
21 | typedef uint16_t sharp_msg_t;
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22 | |||
23 | static sharp_msg_t sharp_msg_make(char address, bom_msg_t bom_msg) { |
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24 | return (((uint16_t)address & 0x3F) << 10) | ((uint16_t)bom_msg << 2) | 2; |
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25 | } |
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26 | |||
27 | static char robot_id; |
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28 | |||
29 | // tx global vars
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30 | static sharp_msg_t out_msg;
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31 | static uint8_t out_pin_mask;
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32 | static char out_high, out_counter; |
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33 | static volatile char out_done; |
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34 | |||
35 | // rx global vars
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36 | static uint8_t prev_bom_sig;
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37 | static struct bom_rx_t { |
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38 | 31f4a032 | Tom Mullins | uint8_t count; |
39 | f115416e | Tom Mullins | uint16_t bits; |
40 | 31f4a032 | Tom Mullins | int last_time;
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41 | f115416e | Tom Mullins | |
42 | uint8_t new_data; |
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43 | uint8_t address; |
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44 | uint8_t data; |
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45 | } bom_rx[4];
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46 | |||
47 | void set_robot_id(char id) { |
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48 | robot_id = id; |
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49 | } |
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50 | |||
51 | char get_robot_id(void) { |
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52 | return robot_id;
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53 | } |
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54 | |||
55 | ISR(TIMER3_COMPA_vect) { |
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56 | if (out_high) {
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57 | BOM_EMIT ^= out_pin_mask; |
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58 | } |
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59 | } |
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60 | |||
61 | static void init_38kHz_signal() { |
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62 | out_high = 0;
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63 | out_pin_mask = 0;
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64 | |||
65 | // timer 3 mode CTC (clear timer on compare), TOP = OCRA
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66 | TCCR3A = 0;
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67 | TCCR3B = _BV(WGM32); |
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68 | TCCR3C = 0;
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69 | |||
70 | // toggling at 38kHz * 2 gives 38kHz wave
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71 | OCR3A = TIME_KHZ(38 * 2, 1); |
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72 | |||
73 | // enable interrupt
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74 | TIMSK3 = _BV(OCIE3A); |
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75 | |||
76 | // start timer 3 at F_CPU, no prescaling
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77 | TCCR3B |= _BV(CS30); |
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78 | } |
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79 | |||
80 | static void start_38kHz_signal() { |
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81 | TCNT3 = 0;
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82 | BOM_EMIT |= out_pin_mask; |
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83 | out_high = 1;
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84 | } |
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85 | |||
86 | static void stop_38kHz_signal() { |
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87 | BOM_EMIT &= ~ out_pin_mask; |
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88 | out_high = 0;
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89 | } |
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90 | |||
91 | static void init_data_signal() { |
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92 | // timer 4 mode CTC (clear timer on compare), TOP = OCRA
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93 | TCCR4A = 0;
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94 | TCCR4B = _BV(WGM42); |
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95 | TCCR3C = 0;
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96 | |||
97 | // run interrupt immediately when timer started
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98 | OCR4A = 0;
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99 | |||
100 | // enable interrupt
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101 | TIMSK4 = _BV(OCIE4A); |
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102 | } |
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103 | |||
104 | static void start_data_signal() { |
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105 | TCNT4 = 0;
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106 | |||
107 | // start timer 4 at F_CPU/64 prescaling
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108 | TCCR4B |= _BV(CS41) | _BV(CS40); |
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109 | } |
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110 | |||
111 | static void stop_data_signal() { |
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112 | // stop timer 4
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113 | TCCR4B &= ~ (_BV(CS42) | _BV(CS41) | _BV(CS40)); |
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114 | } |
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115 | |||
116 | ISR(TIMER4_COMPA_vect) { |
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117 | 31f4a032 | Tom Mullins | if (out_high) {
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118 | stop_38kHz_signal(); |
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119 | if (out_counter) {
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120 | out_counter--; |
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121 | if ((out_msg >> out_counter) & 1) { |
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122 | f115416e | Tom Mullins | OCR4A = TIME_MICROS(1680, 64); |
123 | } else {
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124 | OCR4A = TIME_MICROS(680, 64); |
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125 | } |
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126 | } else {
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127 | 31f4a032 | Tom Mullins | stop_data_signal(); |
128 | out_done = 1;
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129 | f115416e | Tom Mullins | } |
130 | } else {
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131 | 31f4a032 | Tom Mullins | start_38kHz_signal(); |
132 | OCR4A = TIME_MICROS(320, 64); |
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133 | f115416e | Tom Mullins | } |
134 | } |
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135 | |||
136 | void bom_init(void) { |
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137 | // BOM_SIG as input, interrupts enabled
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138 | DDRB &= ~ (_BV(DDB0) | _BV(DDB1) | _BV(DDB2) | _BV(DDB3)); |
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139 | PCMSK0 |= _BV(PCINT0) | _BV(PCINT1) | _BV(PCINT2) | _BV(PCINT3); |
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140 | PCICR |= _BV(PCIE0); |
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141 | |||
142 | // BOM_EMIT as output
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143 | DDRH |= _BV(DDH4) | _BV(DDH5) | _BV(DDH6) | _BV(DDH7); |
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144 | |||
145 | init_38kHz_signal(); |
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146 | init_data_signal(); |
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147 | } |
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148 | |||
149 | void bom_send(char dir) { |
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150 | switch (dir) {
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151 | case BOM_FRONT: out_pin_mask = _BV(BOM_EMIT0); break; |
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152 | case BOM_LEFT: out_pin_mask = _BV(BOM_EMIT1); break; |
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153 | case BOM_RIGHT: out_pin_mask = _BV(BOM_EMIT2); break; |
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154 | case BOM_BACK: out_pin_mask = _BV(BOM_EMIT3); break; |
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155 | } |
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156 | 31f4a032 | Tom Mullins | out_counter = 16;
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157 | f115416e | Tom Mullins | out_msg = sharp_msg_make(0x2A, bom_msg_make(robot_id, dir));
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158 | out_done = 0;
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159 | start_data_signal(); |
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160 | while (!out_done) {
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161 | _delay_ms(0.1); |
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162 | } |
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163 | } |
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164 | |||
165 | static void recv_edge(char is_rising, struct bom_rx_t *rx) { |
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166 | if (is_rising) {
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167 | 31f4a032 | Tom Mullins | // TODO check 320us? or have 320us timeout on rising edge?
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168 | } else {
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169 | f115416e | Tom Mullins | // uses timer 1, assuming prescale 1/8
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170 | // timer 1 is set up by range_init()
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171 | 31f4a032 | Tom Mullins | // this should be in units of microseconds
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172 | int now = TCNT1 * (F_CPU / 1000000 / 8); |
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173 | |||
174 | if (rx->count) {
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175 | int diff = now - rx->last_time;
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176 | rx->bits <<= 1;
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177 | if (MIN_LOW_PW < diff && diff < MAX_LOW_PW) {
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178 | // 0 already in bits
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179 | } else if (MIN_HIGH_PW < diff && diff < MAX_HIGH_PW) { |
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180 | // add 1 to bits
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181 | rx->bits |= 1;
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182 | } else {
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183 | // error, start from beginning
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184 | rx->count = 0;
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185 | rx->bits = 0;
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186 | } |
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187 | if (rx->count == 16) { |
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188 | // finished!
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189 | 69c2203a | Tom Mullins | if ((rx->bits & 3) == 2) { // expansion and check bits |
190 | 31f4a032 | Tom Mullins | rx->data = (rx->bits >> 2) & 0xff; |
191 | rx->address = (rx->bits >> 10) & 0x1f; |
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192 | rx->new_data = 1;
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193 | 69c2203a | Tom Mullins | } |
194 | 31f4a032 | Tom Mullins | rx->count = 0;
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195 | rx->bits = 0;
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196 | f115416e | Tom Mullins | } |
197 | } |
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198 | 31f4a032 | Tom Mullins | |
199 | rx->count++; |
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200 | rx->last_time = now; |
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201 | f115416e | Tom Mullins | } |
202 | } |
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203 | |||
204 | ISR(PCINT0_vect) { |
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205 | uint8_t bom_sig = BOM_SIG; |
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206 | uint8_t changed = bom_sig ^ prev_bom_sig; |
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207 | if (changed & _BV(BOM_SIG0)) recv_edge(bom_sig & _BV(BOM_SIG0), &bom_rx[0]); |
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208 | if (changed & _BV(BOM_SIG1)) recv_edge(bom_sig & _BV(BOM_SIG1), &bom_rx[1]); |
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209 | if (changed & _BV(BOM_SIG2)) recv_edge(bom_sig & _BV(BOM_SIG2), &bom_rx[2]); |
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210 | if (changed & _BV(BOM_SIG3)) recv_edge(bom_sig & _BV(BOM_SIG3), &bom_rx[3]); |
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211 | prev_bom_sig = bom_sig; |
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212 | } |
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213 | |||
214 | int bom_get(char dir) { |
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215 | bom_rx_t *rx = &bom_rx[(int)dir];
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216 | int ret = BOM_NO_DATA;
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217 | cli(); |
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218 | if (rx->new_data) {
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219 | rx->new_data = 0;
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220 | ret = rx->data; |
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221 | } |
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222 | sei(); |
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223 | return ret;
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224 | } |