Revision 31f4a032
| ID | 31f4a0323d38938bb40b2da834fa73fc15003faf |
Some fixes to BOM, which is now tested and it works
| scout_avr/src/bom.cpp | ||
|---|---|---|
| 35 | 35 |
// rx global vars |
| 36 | 36 |
static uint8_t prev_bom_sig; |
| 37 | 37 |
static struct bom_rx_t {
|
| 38 |
uint8_t bits_rx;
|
|
| 38 |
uint8_t count;
|
|
| 39 | 39 |
uint16_t bits; |
| 40 |
int last_bit;
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|
| 40 |
int last_time;
|
|
| 41 | 41 |
|
| 42 | 42 |
uint8_t new_data; |
| 43 | 43 |
uint8_t address; |
| ... | ... | |
| 114 | 114 |
} |
| 115 | 115 |
|
| 116 | 116 |
ISR(TIMER4_COMPA_vect) {
|
| 117 |
if (out_counter) {
|
|
| 118 |
if (out_high) {
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|
| 119 |
stop_38kHz_signal(); |
|
| 120 |
if (out_msg & 1) {
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|
| 117 |
if (out_high) {
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| 118 |
stop_38kHz_signal(); |
|
| 119 |
if (out_counter) {
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| 120 |
out_counter--; |
|
| 121 |
if ((out_msg >> out_counter) & 1) {
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|
| 121 | 122 |
OCR4A = TIME_MICROS(1680, 64); |
| 122 | 123 |
} else {
|
| 123 | 124 |
OCR4A = TIME_MICROS(680, 64); |
| 124 | 125 |
} |
| 125 |
out_msg >>= 1; |
|
| 126 |
out_counter--; |
|
| 127 | 126 |
} else {
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| 128 |
start_38kHz_signal();
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|
| 129 |
OCR4A = TIME_MICROS(320, 64);
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|
| 127 |
stop_data_signal();
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|
| 128 |
out_done = 1;
|
|
| 130 | 129 |
} |
| 131 | 130 |
} else {
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| 132 |
stop_data_signal();
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|
| 133 |
out_done = 1;
|
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| 131 |
start_38kHz_signal();
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| 132 |
OCR4A = TIME_MICROS(320, 64);
|
|
| 134 | 133 |
} |
| 135 | 134 |
} |
| 136 | 135 |
|
| ... | ... | |
| 154 | 153 |
case BOM_RIGHT: out_pin_mask = _BV(BOM_EMIT2); break; |
| 155 | 154 |
case BOM_BACK: out_pin_mask = _BV(BOM_EMIT3); break; |
| 156 | 155 |
} |
| 157 |
out_counter = 17;
|
|
| 156 |
out_counter = 16;
|
|
| 158 | 157 |
out_msg = sharp_msg_make(0x2A, bom_msg_make(robot_id, dir)); |
| 159 | 158 |
out_done = 0; |
| 160 | 159 |
start_data_signal(); |
| ... | ... | |
| 165 | 164 |
|
| 166 | 165 |
static void recv_edge(char is_rising, struct bom_rx_t *rx) {
|
| 167 | 166 |
if (is_rising) {
|
| 167 |
// TODO check 320us? or have 320us timeout on rising edge? |
|
| 168 |
} else {
|
|
| 168 | 169 |
// uses timer 1, assuming prescale 1/8 |
| 169 | 170 |
// timer 1 is set up by range_init() |
| 170 |
int now = TCNT1 * (F_CPU / 1000000) / 8; |
|
| 171 |
int diff = now - rx->last_bit; |
|
| 172 |
rx->last_bit = now; |
|
| 173 |
rx->bits_rx++; |
|
| 174 |
rx->bits <<= 1; |
|
| 175 |
if (MIN_LOW_PW < diff && diff < MAX_LOW_PW) {
|
|
| 176 |
// 0 already in bits |
|
| 177 |
} else if (MIN_HIGH_PW < diff && diff < MAX_HIGH_PW) {
|
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| 178 |
// add 1 to bits |
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| 179 |
rx->bits |= 1; |
|
| 180 |
} else {
|
|
| 181 |
// error, start from beginning |
|
| 182 |
rx->bits_rx = 0; |
|
| 183 |
rx->bits = 0; |
|
| 184 |
} |
|
| 185 |
if (rx->bits_rx == 16) {
|
|
| 186 |
// finished! |
|
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if ((rx->bits & 3) == 2) { // expansion and check bits
|
|
| 188 |
rx->data = (rx->bits >> 2) & 0xff; |
|
| 189 |
rx->address = (rx->bits >> 10) & 0x1f; |
|
| 190 |
rx->new_data = 1; |
|
| 171 |
// this should be in units of microseconds |
|
| 172 |
int now = TCNT1 * (F_CPU / 1000000 / 8); |
|
| 173 |
|
|
| 174 |
if (rx->count) {
|
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| 175 |
int diff = now - rx->last_time; |
|
| 176 |
rx->bits <<= 1; |
|
| 177 |
if (MIN_LOW_PW < diff && diff < MAX_LOW_PW) {
|
|
| 178 |
// 0 already in bits |
|
| 179 |
} else if (MIN_HIGH_PW < diff && diff < MAX_HIGH_PW) {
|
|
| 180 |
// add 1 to bits |
|
| 181 |
rx->bits |= 1; |
|
| 182 |
} else {
|
|
| 183 |
// error, start from beginning |
|
| 184 |
rx->count = 0; |
|
| 185 |
rx->bits = 0; |
|
| 186 |
} |
|
| 187 |
if (rx->count == 16) {
|
|
| 188 |
// finished! |
|
| 189 |
//if ((rx->bits & 3) == 2) { // expansion and check bits
|
|
| 190 |
rx->data = (rx->bits >> 2) & 0xff; |
|
| 191 |
rx->address = (rx->bits >> 10) & 0x1f; |
|
| 192 |
rx->new_data = 1; |
|
| 193 |
//} |
|
| 194 |
rx->count = 0; |
|
| 195 |
rx->bits = 0; |
|
| 191 | 196 |
} |
| 192 |
rx->bits_rx = 0; |
|
| 193 |
rx->bits = 0; |
|
| 194 | 197 |
} |
| 195 |
} else {
|
|
| 196 |
// TODO check 320us? or have 320us timeout on rising edge? |
|
| 198 |
|
|
| 199 |
rx->count++; |
|
| 200 |
rx->last_time = now; |
|
| 197 | 201 |
} |
| 198 | 202 |
} |
| 199 | 203 |
|
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