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authormeyma <devnull@localhost>2007-02-22 15:08:01 +0100
committermeyma <devnull@localhost>2007-02-22 15:08:01 +0100
commitd7ac8f546afb75bd2d626b5cc639939337560cf6 (patch)
treeaeb7468317733fe3b6a07d83ce7e0c20effa6f27 /source
parent655dd7522fb60e2ef0e68437337178184109f347 (diff)
downloadrc2007-soccer-d7ac8f546afb75bd2d626b5cc639939337560cf6.tar
rc2007-soccer-d7ac8f546afb75bd2d626b5cc639939337560cf6.zip
We have a SRF10, not SRF05
Diffstat (limited to 'source')
-rwxr-xr-xsource/Concept/Framework/atmega128io.c172
-rw-r--r--source/Concept/Framework/atmega128io.h95
-rwxr-xr-xsource/Concept/Framework/modules/input/distance_sensor.c176
-rwxr-xr-xsource/Concept/Framework/modules/input/distance_sensor.h102
4 files changed, 470 insertions, 75 deletions
diff --git a/source/Concept/Framework/atmega128io.c b/source/Concept/Framework/atmega128io.c
index b1d6f4d..94e0f94 100755
--- a/source/Concept/Framework/atmega128io.c
+++ b/source/Concept/Framework/atmega128io.c
@@ -580,6 +580,174 @@ void uart1_puts_p(const char *progmem_s )
uart1_putc(c);
}/* uart1_puts_p */
-
-
+
+/////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////
+// TWI-Driver
+
+
+/*!
+ * TWI Bus initialsieren
+ * @return Resultat der Aktion
+ */
+
+int8 Init_TWI(void){
+ TWAR = OWN_ADR; /*!< Eigenen Slave Adresse setzen */
+ TWBR = 12; /*!< Setze Baudrate auf 100 KHz */
+ /*!< 4 MHz xtal */
+ TWCR = (1<<TWEN); /*!< TWI-Interface einschalten */
+
+ return 1;
+}
+
+/*!
+ * TWI Buss schliesen
+ * @return Resultat der Aktion
+ */
+
+int8 Close_TWI(void){
+ TWCR = (0<<TWEN); /*!< TWI-Interface ausschalten */
+
+ return 0;
+}
+
+/*!
+ * Warte auf TWI interrupt
+ */
+
+void Wait_TWI_int(void){
+ while (!(TWCR & (1<<TWINT)))
+ ;
+}
+
+/*!
+ * Sende Start Sequence
+ * @return Resultat der Aktion
+ */
+
+uint8 Send_start(void){
+ TWCR = ((1<<TWINT)+(1<<TWSTA)+(1<<TWEN)); /*!< Sende START */
+
+ Wait_TWI_int(); /*!< Warte auf TWI interrupt */
+
+ if((TWSR != START)&&(TWSR != REP_START)) /*!< Ist der Status ein Anderer als Start (0x08) oder wiederholter Start (0x10) */
+ return TWSR; /*!< -> error und Rueckgabe TWSR. */
+ return SUCCESS; /*!< wenn OK Rueckgabe SUCCESS */
+}
+
+/*!
+ * Sende Stop Sequence
+ */
+
+void Send_stop(void){
+ TWCR = ((1<<TWEN)+(1<<TWINT)+(1<<TWSTO));
+}
+
+/*!
+ * Hier wird der eigentliche TWI-Treiber angesprochen
+ * @param *data_pack Container mit den Daten fuer den Treiber
+ * @return Resultat der Aktion
+ */
+uint8 Send_to_TWI(tx_type *data_pack){
+ uint8 state,i,j;
+
+ state = SUCCESS;
+
+ for(i=0;(data_pack[i].slave_adr != OWN_ADR)&&(state == SUCCESS);i++) {
+ state = Send_start();
+ if (state == SUCCESS)
+ state = Send_adr(data_pack[i].slave_adr);
+
+ /*!
+ * Abhaengig von W/R senden oder empfangen
+ */
+ if(!(data_pack[i].slave_adr & R)) {
+ if (state == SUCCESS){
+ /*!
+ * Wenn W bis alle Daten gesendet sind
+ */
+ for(j=0;((j<data_pack[i].size)&&(state == SUCCESS));j++)
+ state = Send_byte(data_pack[i].data_ptr[j]);
+ }
+ }
+ else{
+ if (state == MRX_ADR_NACK) {
+ state = Send_start();
+ }
+
+ if (state == SUCCESS){
+ /*!
+ * Wenn R bis alle Daten empfangen sind
+ */
+ for(j=0;((j<data_pack[i].size)&&(state == SUCCESS));j++){
+ /*!
+ * Wenn wir keine Daten mehr erwarten NACK senden
+ */
+ if(j == data_pack[i].size-1)
+ state = Get_byte(data_pack[i].data_ptr++,0);
+ else
+ state = Get_byte(data_pack[i].data_ptr++,1);
+ }
+ }
+ }
+ Send_stop();
+ }
+ Close_TWI();
+
+ return state;
+}
+
+/*!
+ * Sende ein Byte
+ * @param data das zu uebertragende Byte
+ */
+
+uint8 Send_byte(uint8 data){
+ Wait_TWI_int();
+ TWDR = data;
+ TWCR = ((1<<TWINT)+(1<<TWEN));
+ Wait_TWI_int();
+ if(TWSR != MTX_DATA_ACK)
+ return TWSR;
+ return SUCCESS;
+}
+
+/*!
+ * Sende Slave Adresse
+ * @param adr die gewuenschte Adresse
+ * @return Resultat der Aktion
+ */
+
+uint8 Send_adr(uint8 adr){
+ Wait_TWI_int();
+ TWDR = adr;
+ TWCR = ((1<<TWINT)+(1<<TWEN));
+ Wait_TWI_int();
+ if((TWSR != MTX_ADR_ACK)&&(TWSR != MRX_ADR_ACK))
+ return TWSR;
+ return SUCCESS;
+}
+
+/*!
+ * Empfange ein Byte
+ * @param *rx_ptr Container fuer die Daten
+ * @param last_byte Flag ob noch Daten erwartet werden
+ * @return Resultat der Aktion
+ */
+
+uint8 Get_byte(uint8 *rx_ptr,uint8 last_byte){
+ Wait_TWI_int();
+ if(last_byte)
+ TWCR = ((1<<TWINT)+(1<<TWEA)+(1<<TWEN));
+ else
+ TWCR = ((1<<TWINT)+(1<<TWEN));
+ Wait_TWI_int();
+ *rx_ptr = TWDR;
+ if(((TWSR == MRX_DATA_NACK)&&(last_byte == 0))||(TWSR == MRX_DATA_ACK))
+ return SUCCESS;
+ return TWSR;
+}
+
#endif
diff --git a/source/Concept/Framework/atmega128io.h b/source/Concept/Framework/atmega128io.h
index ed526ae..a3384a4 100644
--- a/source/Concept/Framework/atmega128io.h
+++ b/source/Concept/Framework/atmega128io.h
@@ -178,6 +178,99 @@ extern void uart1_puts_p(const char *s );
/** @brief Macro to automatically put a string constant into program memory */
#define uart1_puts_P(__s) uart1_puts_p(PSTR(__s))
-/**@}*/
+/**@}*/
+
+/////////////////////////////////////////////////////
+/////////////////////////////////////////////////////
+// TWI-Driver
+
+ /*!
+ Struktur Definition
+ tx_type ist eine Datenstruktur um den TWI Treiber anzusprechen
+ und behinhaltet folgende Informationen:
+ Slave Adresse + Datenrichtung
+ Anzahl der zu uebertragendenden Bytes (Senden oder Empfangen)
+ Pointer auf den Sende- oder Empfangspuffer
+ */
+ typedef struct
+ {
+ uint8 slave_adr; /*!< Slave Adresse and W/R byte */
+ uint8 size; /*!< Anzahl der Bytes, die gesendet oder empfagen werden sollen */
+ uint8 *data_ptr; /*!< Pointer zum Sende und Empfangs Puffer */
+ }tx_type;
+
+/*!
+ * Hier wird der eigentliche TWI-Treiber angesprochen
+ * @param *data_pack Container mit den Daten fuer den Treiber
+ * @return Resultat der Aktion
+ */
+ extern uint8 Send_to_TWI(tx_type *data_pack);
+/*!
+ * Sende ein Byte
+ * @param data das zu uebertragende Byte
+ */
+ extern uint8 Send_byte(uint8 data);
+/*!
+ * Empfange ein Byte
+ * @param *rx_ptr Container f�r die Daten
+ * @param last_byte Flag ob noch Daten erwartet werden
+ * @return Resultat der Aktion
+ */
+ extern uint8 Get_byte(uint8 *rx_ptr, uint8 last_byte);
+/*!
+ * Sende Start Sequence
+ * @return Resultat der Aktion
+ */
+ extern uint8 Send_start(void);
+/*!
+ * Sende Slave Adresse
+ * @param adr die gewuenschte Adresse
+ * @return Resultat der Aktion
+ */
+ extern uint8 Send_adr(uint8 adr);
+/*!
+ * Sende Stop Sequence
+ */
+ extern void Send_stop(void);
+/*!
+ * Warte auf TWI interrupt
+ */
+ extern void Wait_TWI_int(void);
+
+/*!
+ * TWI Bus initialsieren
+ * @return Resultat der Aktion
+ */
+ extern int8 Init_TWI(void);
+/*!
+ * TWI Bus schliesen
+ * @return Resultat der Aktion
+ */
+ extern int8 Close_TWI(void);
+
+ #define W 0 /*!< Daten Transfer Richtung Schreiben */
+ #define R 1 /*!< Daten Transfer Richtung Lesen */
+ #define OWN_ADR 60 /*!< Die eigene Slave Adresse */
+ #define SUCCESS 0xFF /*!< Status Code alles OK */
+
+ /*!
+ TWI Stautus Register Definitionen
+ */
+
+ /*!< Genereller Master Statuscode */
+ #define START 0x08 /*!< START wurde uebertragen */
+ #define REP_START 0x10 /*!< Wiederholter START wurde uebertragen */
+ /*!< Master Sender Statuscode */
+ #define MTX_ADR_ACK 0x18 /*!< SLA+W wurde uebertragen und ACK empfangen */
+ #define MTX_ADR_NACK 0x20 /*!< SLA+W wurde uebertragen und NACK empfangen */
+ #define MTX_DATA_ACK 0x28 /*!< Datenbyte wurde uebertragen und ACK empfangen */
+ #define MTX_DATA_NACK 0x30 /*!< Datenbyte wurde uebertragen und NACK empfangen */
+ #define MTX_ARB_LOST 0x38 /*!< Schlichtung verloren in SLA+W oder Datenbytes */
+ /*!< Master Empfaenger Statuscode */
+ #define MRX_ARB_LOST 0x38 /*!< Schlichtung verloren in SLA+R oder NACK bit */
+ #define MRX_ADR_ACK 0x40 /*!< SLA+R wurde uebertragen und ACK empfangen */
+ #define MRX_ADR_NACK 0x48 /*!< SLA+R wurde uebertragen und NACK empfangen */
+ #define MRX_DATA_ACK 0x50 /*!< Datenbyte wurde empfangen und ACK gesendet */
+ #define MRX_DATA_NACK 0x58 /*!< Datenbyte wurde empfangen und NACK gesendet */
#endif
diff --git a/source/Concept/Framework/modules/input/distance_sensor.c b/source/Concept/Framework/modules/input/distance_sensor.c
index e6fd3f8..1ab3755 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.c
+++ b/source/Concept/Framework/modules/input/distance_sensor.c
@@ -1,41 +1,145 @@
#include "distance_sensor.h"
+
+/*!
+ * SRF10 initialsieren
+ */
+
+void Distance_Sensor::srf10_init(void){
+ srf10_set_range(SRF10_MAX_RANGE);
+ //srf10_set_range(6); //Mit diesem Wert muss man spielen um das Optimum zu ermitteln
+return;
+}
+
+/*!
+ * Verstaerkungsfaktor setzen
+ * @param gain Verstaerkungsfaktor
+ */
+
+void Distance_Sensor::srf10_set_gain(unsigned char gain){
+ if(gain>16) { gain=16; }
+
+ uint8 temp[2];
+ uint8 state;
+ tx_type tx_frame[2];
+
+ state = SUCCESS;
+
+ tx_frame[0].slave_adr = this->slaveAddr+W;
+ tx_frame[0].size = 2;
+ tx_frame[0].data_ptr = temp;
+ tx_frame[0].data_ptr[0] = 1;
+ tx_frame[0].data_ptr[1] = gain;
+
+ tx_frame[1].slave_adr = OWN_ADR;
+
+ state = Send_to_TWI(tx_frame);
+}
+
+/*!
+ * Reichweite setzen, hat auch Einfluss auf die Messdauer
+ * @param millimeters Reichweite in mm
+ */
+
+void Distance_Sensor::srf10_set_range(unsigned int millimeters){
+ uint8 temp[2];
+ uint8 state;
+ tx_type tx_frame[2];
+
+ state = SUCCESS;
+
+ millimeters= (millimeters/43);
+
+ tx_frame[0].slave_adr = this->slaveAddr+W;
+ tx_frame[0].size = 2;
+ tx_frame[0].data_ptr = temp;
+ tx_frame[0].data_ptr[0] = 2;
+ tx_frame[0].data_ptr[1] = millimeters;
+
+ tx_frame[1].slave_adr = OWN_ADR;
+
+ state = Send_to_TWI(tx_frame);
+}
+
+/*!
+ * Messung ausloesen
+ * @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms
+ * @return Resultat der Aktion
+ */
+
+uint8 Distance_Sensor::srf10_ping(uint8 metric_unit){
+ uint8 temp[2];
+ uint8 state;
+ tx_type tx_frame[2];
+
+ state = SUCCESS;
+
+ tx_frame[0].slave_adr = this->slaveAddr+W;
+ tx_frame[0].size = 2;
+ tx_frame[0].data_ptr = temp;
+ tx_frame[0].data_ptr[0] = SRF10_COMMAND;
+ tx_frame[0].data_ptr[1] = metric_unit;
+
+ tx_frame[1].slave_adr = OWN_ADR;
+
+ state = Send_to_TWI(tx_frame);
+
+ return state;
+}
+
+/*!
+ * Register auslesen
+ * @param srf10_register welches Register soll ausgelsen werden
+ * @return Inhalt des Registers
+ */
+
+uint8 Distance_Sensor::srf10_read_register(uint8 srf10_register){
+ uint8 temp;
+ uint8 value;
+ uint8 state;
+ tx_type tx_frame[3];
+
+ state = SUCCESS;
+ value = 0;
+
+ tx_frame[0].slave_adr = this->slaveAddr+W;
+ tx_frame[0].size = 1;
+ tx_frame[0].data_ptr = &temp;
+ tx_frame[0].data_ptr[0] = srf10_register;
+
+ tx_frame[1].slave_adr = this->slaveAddr+R;
+ tx_frame[1].size = 1;
+ tx_frame[1].data_ptr = &value;
+
+ tx_frame[2].slave_adr = OWN_ADR;
+
+ state = Send_to_TWI(tx_frame);
+
+ return value;
+}
+
+/*!
+ * Messung starten Ergebniss aufbereiten und zurueckgeben
+ * @return Messergebniss
+ */
+
+uint16 Distance_Sensor::srf10_get_measure(){
+ char hib;
+ char lob;
+ char state;
+
+ state = SUCCESS;
+
+ state = srf10_ping(SRF10_CENTIMETERS);
+ usleep(10); //Optimierungs Potential
+ lob=srf10_read_register(SRF10_LOB);
+ usleep(10); //Optimierungs Potential
+ hib=srf10_read_register(SRF1sr0_HIB);
+
+ return (hib*256)+lob;
+}
//-----------------------------------------------------------------------------
-float Distance_Sensor::GetDistance()
+uint16 Distance_Sensor::GetDistance()
{
- uint32 result = 0;
-
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Gen Pulse; Pin:",1,4);
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
-
- msleep(500);
-
- //Generate pulse
- *hardwareDDR |= pin;//Set pin output
- *hardwarePort |= pin;//Activate port
- usleep(10);//Wait for 10µs
- *hardwareDDR &= ~pin;//Set pin input
- *hardwarePort &= ~pin;//Deactivate port
-
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Wait response; Pin:",1,4);
- //(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
-
- uint16 i;
- //Wait for response
- for(i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
-
- //Calculate duration of response
- while((*hardwarePin & pin)&&(result < 300000))
- {
- result++;
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- asm volatile("nop");
- }
-
- return (float(result) * DISTANCE_PER_VALUE);
+ return srf10_get_measure();
}
diff --git a/source/Concept/Framework/modules/input/distance_sensor.h b/source/Concept/Framework/modules/input/distance_sensor.h
index 8e6aa21..9efa021 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.h
+++ b/source/Concept/Framework/modules/input/distance_sensor.h
@@ -2,7 +2,21 @@
#define _DISTANCE_SENSOR_H
#include "../../stdafx.h"
-#include "sensor.h"
+#include "sensor.h"
+
+#define SRF10_MIN_GAIN 0 /*!< setze Verstaerung auf 40 */
+#define SRF10_MAX_GAIN 16 /*!< setze Verstaerung auf 700 */
+#define SRF10_MIN_RANGE 0 /*!< Minimale Reichweite 43mm */
+#define SRF10_MAX_RANGE 5977 /*!< Maximale Reichweite 5977mm */
+
+#define SRF10_INCHES 0X50 /*!< Messung in INCHES */
+#define SRF10_CENTIMETERS 0X51 /*!< Messung in CM */
+#define SRF10_MICROSECONDS 0X52 /*!< Messung in Millisekunden */
+
+#define SRF10_COMMAND 0 /*!< W=Befehls-Register R=Firmware*/
+#define SRF10_LIGHT 1 /*!< W=Verstaerkungsfaktor R=Nicht benutzt */
+#define SRF10_HIB 2 /*!< W=Reichweite R=Messung High-Byte */
+#define SRF10_LOB 3 /*!< W=Nicht benutzt R=Messung Low-Byte */
class Distance_Sensor : public Sensor
{
@@ -10,11 +24,8 @@ public:
Distance_Sensor()
{
this->parent = NULL;
- this->moduleId = 0;
- this->hardwarePort = NULL;
- this->hardwareDDR = NULL;
- this->hardwarePin = NULL;
- this->pin = 0;
+ this->moduleId = 0;
+ this->slaveAddr = 0; // Set the I2C Slave-Adress
}
Distance_Sensor(uint32 sensorId)
@@ -24,45 +35,64 @@ public:
switch(sensorId)
{
- case IO_SENSOR_DISTANCE_0_DEG:
- this->hardwarePort = &PORTC;
- this->hardwareDDR = &DDRC;
- this->hardwarePin = &PINC;
- this->pin = (1 << 0);
+ case IO_SENSOR_DISTANCE_0_DEG:
+ this->slaveAddr = 0xE0; // Set the I2C Slave-Adress
break;
- case IO_SENSOR_DISTANCE_90_DEG:
- this->hardwarePort = &PORTC;
- this->hardwareDDR = &DDRC;
- this->hardwarePin = &PINC;
- this->pin = (1 << 1);
+ case IO_SENSOR_DISTANCE_90_DEG:
+ this->slaveAddr = 0xE2;
break;
- case IO_SENSOR_DISTANCE_180_DEG:
- this->hardwarePort = &PORTC;
- this->hardwareDDR = &DDRC;
- this->hardwarePin = &PINC;
- this->pin = (1 << 2);
+ case IO_SENSOR_DISTANCE_180_DEG:
+ this->slaveAddr = 0xE4;
break;
- case IO_SENSOR_DISTANCE_270_DEG:
- this->hardwarePort = &PORTC;
- this->hardwareDDR = &DDRC;
- this->hardwarePin = &PINC;
- this->pin = (1 << 3);
+ case IO_SENSOR_DISTANCE_270_DEG:
+ this->slaveAddr = 0xE6;
break;
- default:
- this->hardwarePort = NULL;
- this->hardwareDDR = NULL;
- this->hardwarePin = NULL;
- this->pin = 0;
+ default:
+ this->slaveAddr = 0;
break;
}
}
protected:
- //Hardware
- volatile uint8* hardwarePort;
- volatile uint8* hardwareDDR;
- volatile uint8* hardwarePin;
- uint8 pin;
+ //Hardware
+ slaveAddr;
+
+ /*!
+ * SRF10 initialsieren
+ */
+extern void srf10_init(void);
+
+/*!
+ * Verstaerkungsfaktor setzen
+ * @param gain Verstaerkungsfaktor
+ */
+extern void srf10_set_gain(uint8 gain);
+
+/*!
+ * Reichweite setzen, hat auch Einfluss auf die Messdauer
+ * @param millimeters Reichweite in mm
+ */
+extern void srf10_set_range(uint16 millimeters);
+
+/*!
+ * Messung ausloesen
+ * @param metric_unit 0x50 in Zoll, 0x51 in cm, 0x52 ms
+ * @return Resultat der Aktion
+ */
+extern uint8 srf10_ping(uint8 metric_unit);
+
+/*!
+ * Register auslesen
+ * @param srf10_register welches Register soll ausgelsen werden
+ * @return Inhalt des Registers
+ */
+extern uint8 srf10_read_register(uint8 SRF10_register);
+
+/*!
+ * Messung starten Ergebniss aufbereiten und zurueckgeben
+ * @return Messergebniss
+ */
+extern uint16 srf10_get_measure(void);
public:
float GetDistance();