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[Krobot-commits] [SCM] krobot branch, master, updated. 21fa8c7c828a2ab7dbc159e3bc6543597f5a2ddd
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From: Jason C. <Ba...@us...> - 2011-06-08 20:52:22
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This is an automated email from the git hooks/post-receive script. It was
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The branch, master has been updated
via 21fa8c7c828a2ab7dbc159e3bc6543597f5a2ddd (commit)
from f32c0b6cd08a7a7055286d9b17d148a4e0eee4f8 (commit)
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- Log -----------------------------------------------------------------
commit 21fa8c7c828a2ab7dbc159e3bc6543597f5a2ddd
Author: jchevrie <jas...@cr...>
Date: Wed Jun 8 22:51:35 2011 +0200
Ajout du calcul de l'angle
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/controller_motor_stm32.mk b/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/controller_motor_stm32.mk
index 258c050..614a6e1 100644
--- a/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/controller_motor_stm32.mk
+++ b/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/controller_motor_stm32.mk
@@ -9,7 +9,7 @@ Firmware_DEBUG = 1
# Our target application
TRG += controller_motor_stm32
-controller_motor_stm32_PREFIX = "/home/justin/opt/arm-i386/bin/arm-none-eabi-"
+controller_motor_stm32_PREFIX = "/home/jason/opt/arm-i386/bin/arm-none-eabi-"
controller_motor_stm32_SUFFIX = ""
diff --git a/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/main.c b/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/main.c
index 3c23c58..5f22f06 100644
--- a/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/main.c
+++ b/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/main.c
@@ -53,10 +53,10 @@ static void init(void)
static void NORETURN ind_process(void)
{
while(1) {
- LED1_ON();
- timer_delay(500);
- LED1_OFF();
- timer_delay(500);
+ /*LED1_ON();
+ timer_delay(250);
+ LED1_OFF();*/
+ timer_delay(250);
}
}
diff --git a/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/reception.c b/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/reception.c
index fe2d17b..9f36a29 100644
--- a/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/reception.c
+++ b/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/reception.c
@@ -71,7 +71,9 @@ void receptionInit() {
//Init readValues
for(i=0;i<NUM_SENSORS;i++) {
- readValues[i]=0;
+ readValues[i][0]=0;
+ readValues[i][1]=0;
+ detectionState[i]=0;
}
return;
}
@@ -80,39 +82,112 @@ void NORETURN reception_process(void)
{
Timer timer_reception_process;
int i;
+ float theta;
+ uint16_t control;
+ uint16_t opponentSensor;
+ uint16_t maxWeight;
+
+
timer_setDelay(&timer_reception_process, us_to_ticks((utime_t)(reception_refresh)));
timer_setEvent(&timer_reception_process);
while(1) {
+
timer_add(&timer_reception_process);// Start process timer
- readSensors();
- for(i=0;i<NUM_SENSORS;i++) {
- if(readValues[0]==0) LED2_ON();
- else LED2_OFF();
- }
+
+ uint16_t weight_tab[NUM_SENSORS]={0};
+
+ control=refreshDetection();
+
+ if (control >= NB_DETECT_MIN){ // process only when enough sensors are enlightened
+
+ maxWeight = 0;
+
+ for(i=0 ; i<NUM_SENSORS ; i++){
+
+ weight_tab[i] = calculate_weight(i);
+
+ if (weight_tab[i] > maxWeight){
+
+ maxWeight = weight_tab[i];
+ opponentSensor = i;
+
+ }
+ }
+
+ theta = 2*M_PI - (2*M_PI/32 + opponentSensor * 2*M_PI/16);
+
+ }
+
+
+ if (control >= NB_DETECT_MIN) LED2_ON();
+ else LED2_OFF();
+ if (theta < M_PI/2) LED1_ON();
+ else LED1_OFF();
+
timer_waitEvent(&timer_reception_process); // Wait until the end of counting
}
}
-void readSensors(void) {
+void readSensors(int indice) {
//Read all sensors
- readValues[0]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(9)); //read PB9
- readValues[1]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(8)); //read PB8
- readValues[2]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(7)); //read PB7
- readValues[3]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(6)); //read PB6
- readValues[4]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOD_BASE), BV(2)); //read PD2
- readValues[5]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(12)); //read PC12
- readValues[6]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(11)); //read PC11
- readValues[7]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(10)); //read PC10
- readValues[8]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(9)); //read PC9
- readValues[9]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(8)); //read PC8
- readValues[10]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(7)); //read PC7
- readValues[11]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(6)); //read PC6
- readValues[12]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(15)); //read PB15
- readValues[13]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(14)); //read PB14
- readValues[14]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(13)); //read PB13
- readValues[15]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(12)); //read PB12
+ readValues[0][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(9)); //read PB9
+ readValues[1][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(8)); //read PB8
+ readValues[2][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(7)); //read PB7
+ readValues[3][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(6)); //read PB6
+ readValues[4][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOD_BASE), BV(2)); //read PD2
+ readValues[5][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(12)); //read PC12
+ readValues[6][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(11)); //read PC11
+ readValues[7][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(10)); //read PC10
+ readValues[8][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(9)); //read PC9
+ readValues[9][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(8)); //read PC8
+ readValues[10][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(7)); //read PC7
+ readValues[11][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOC_BASE), BV(6)); //read PC6
+ readValues[12][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(15)); //read PB15
+ readValues[13][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(14)); //read PB14
+ readValues[14][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(13)); //read PB13
+ readValues[15][indice]=stm32_gpioPinRead(((struct stm32_gpio *)GPIOB_BASE), BV(12)); //read PB12
return;
}
+
+uint16_t refreshDetection(void){
+
+ int i;
+ uint8_t control_sum=0;
+
+ readSensors(0);
+ timer_delay(1);
+ readSensors(1);
+
+ for(i=0 ; i < NUM_SENSORS ; i++){
+
+ if (readValues[i][0]!=readValues[i][1]) detectionState[i] = 1;
+ else detectionState[i] = 0;
+ control_sum += detectionState[i];
+ }
+
+
+
+ return control_sum;
+}
+
+uint16_t calculate_weight(uint16_t k){
+
+ int i;
+ uint16_t weight=0;
+
+ for(i=0 ; i<NUM_SENSORS ; i++){
+
+ if((abs(k-i) < 5) & (i!=k)){
+
+ weight += detectionState[i]*pow(3,5-abs(k-i));
+
+ }
+
+ }
+
+ return weight;
+
+}
diff --git a/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/reception.h b/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/reception.h
index e37ca60..16bb082 100644
--- a/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/reception.h
+++ b/elec/boards/Balise_IR/Carte_capteurs/Firmware/controller_motor_stm32/reception.h
@@ -10,10 +10,11 @@
#define PWM_56k 1286
#define NUM_SENSORS 16
+#define NB_DETECT_MIN 5
+#define reception_refresh 10000
-#define reception_refresh 200
-
-uint16_t readValues[NUM_SENSORS];
+uint16_t readValues[NUM_SENSORS][2];
+uint16_t detectionState[NUM_SENSORS];
void receptionInit(void);
@@ -22,8 +23,11 @@ void enableClock(void);
void disableClock(void);
-void readSensors(void);
+void readSensors(int);
+uint16_t refreshDetection(void);
+uint16_t calculate_weight(uint16_t);
void NORETURN reception_process(void);
+
#endif
hooks/post-receive
--
krobot
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