Revision fd73d758

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scout_avr/src/main.cpp
1
#if 1 ///////////////////////////////////////////////
1
#if 0 ///////////////////////////////////////////////
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#include "ros.h"
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#include <std_msgs/Int16.h>
......
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{
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#include <stdlib.h>
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#include <string.h>
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#include <avr/io.h>
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#include <util/delay.h>
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}
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#include "Atmega128rfa1.h"
......
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    now = avr.time();
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    if (now > next) {
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      next = now + 100;
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      ultoa(now, buf, 10);
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      /*ultoa(now, buf, 10);
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      avr.puts(buf);
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      avr.puts("\r\n");
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      avr.puts("\r\n");*/
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      id++;
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      if (id == 0x40) {
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        id = 0;
......
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      avr.puts(", ");
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      utoa(range_get(1), buf, 10);
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      avr.puts(buf);*/
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      /*for (i = 0; i < 4; i++) {
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      for (i = 0; i < 4; i++) {
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        bom_send(i);
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        int msg = bom_get(i);
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        if (msg != BOM_NO_DATA) {
......
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          avr.puts(buf);
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          avr.puts(")\r\n");
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        }
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      }*/
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      }
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    }
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  }
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  return 0;
scout_avr/src/range.cpp
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struct range_t {
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  unsigned int start; // timer value on rising edge
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  unsigned int value; // last measured range
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} range[2];
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  char done;
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} volatile range[2];
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static void on_edge(int which)
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{
......
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  }
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  else
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  {
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    PORT_SONAR_TX &= ~ _BV(P_SONAR_TX);
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    // if timer overflowed since start, this arithmetic should still work out
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    range[which].value = time - range[which].start;
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    range[which].done = 1;
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  }
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}
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......
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  // CS1 = 2, 1/8 prescaler
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  // if this is changed, remember to change recv_edge in bom.cpp!
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  TCCR5B = _BV(CS51);
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  range[0].value = RANGE_ERR;
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  range[1].value = RANGE_ERR;
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  // set tx as output
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  DDRG |= _BV(DDG1);
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  PORT_SONAR_TX &= ~ _BV(P_SONAR_TX);
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}
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unsigned int range_get(int which)
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void range_measure(unsigned int *values)
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{
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  unsigned int ret;
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  if (0 <= which && which <= 1)
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  int i;
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  for (i = 0; i < 2; i++)
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  {
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    range[i].value = RANGE_ERR;
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    range[i].done = 0;
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  }
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  // TODO ensure that one interrupt won't be delayed because of the other
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  PORT_SONAR_TX |= _BV(P_SONAR_TX);
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  for (i = 0; i < 2; i++)
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  {
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    cli();
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    ret = range[which].value;
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    sei();
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    return ret;
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    while (!range[i].done) {}
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    values[i] = range[i].value;
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  }
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  else return RANGE_ERR;
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}
scout_avr/src/range.h
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#define PORT_SONAR_TX PORTG
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#define P_SONAR_TX PG1
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// initializes timer 5, also used by bom
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void range_init();
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unsigned int range_get(int which);
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// blocks during measurement (up to 37.5ms for each)
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// writes values into array of 2 unsigned ints
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void range_measure(unsigned int *values);
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#endif

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