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arduino-spatial-rgb
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working pro mini + separate triggers

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master
Ondřej Hruška 9 years ago
parent b7b82a5422
commit 7665825ae1
1 changed files with 92 additions and 112 deletions
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  1. 204
      main.c

204
main.c
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@ -13,19 +13,20 @@
#include "lib/usart.h" #include "lib/usart.h"
#include "lib/nsdelay.h" #include "lib/nsdelay.h"
static void sonar_start(void); #define WS_PIN 7
#define WS_PIN 6 #define TRIG1_PIN 3
#define TRIG2_PIN 9
#define TRIG3_PIN 11
#define TRIG_PIN 2 #define ECHO1_PIN 2
#define ECHO2_PIN 8
#define ECHO1_PIN 3 #define ECHO3_PIN 10
#define ECHO2_PIN 4
#define ECHO3_PIN 5
/** Wait long enough for the colors to show */ /** Wait long enough for the colors to show */
static void ws_show(void) static inline __attribute__((always_inline))
void ws_show(void)
{ {
_delay_us(10); _delay_us(10);
} }
@ -37,21 +38,21 @@ void ws_send_byte(uint8_t bb)
for (int8_t i = 8; i > 0; i--) { for (int8_t i = 8; i > 0; i--) {
pin_up(WS_PIN); pin_up(WS_PIN);
if (bb & 0x80) { if (bb & 0x80) {
__asm__ volatile ("nop"); __asm__ volatile("nop");
__asm__ volatile ("nop"); __asm__ volatile("nop");
__asm__ volatile ("nop"); __asm__ volatile("nop");
__asm__ volatile ("nop"); __asm__ volatile("nop");
__asm__ volatile ("nop"); __asm__ volatile("nop");
pin_down(WS_PIN); pin_down(WS_PIN);
__asm__ volatile ("nop"); __asm__ volatile("nop");
} else { } else {
__asm__ volatile ("nop"); __asm__ volatile("nop");
pin_down(WS_PIN); pin_down(WS_PIN);
__asm__ volatile ("nop"); __asm__ volatile("nop");
__asm__ volatile ("nop"); __asm__ volatile("nop");
__asm__ volatile ("nop"); __asm__ volatile("nop");
__asm__ volatile ("nop"); __asm__ volatile("nop");
__asm__ volatile ("nop"); __asm__ volatile("nop");
} }
bb = (uint8_t)(bb << 1); bb = (uint8_t)(bb << 1);
@ -71,13 +72,17 @@ static void hw_init(void)
{ {
usart_init(BAUD_115200); usart_init(BAUD_115200);
as_output(2); as_output(WS_PIN);
as_input_pu(3); as_input_pu(ECHO1_PIN);
as_input_pu(4); as_input_pu(ECHO2_PIN);
as_input_pu(5); as_input_pu(ECHO3_PIN);
as_output(6); // WS as_output(TRIG1_PIN);
as_output(TRIG2_PIN);
as_output(TRIG3_PIN);
as_output(13);
} }
typedef enum { typedef enum {
@ -96,7 +101,7 @@ static float mbuf_add(MBuf *buf, float value)
{ {
float aggr = value; float aggr = value;
for (int i = MBUF_LEN - 1; i > 0; i--) { for (int i = MBUF_LEN - 1; i > 0; i--) {
float m = buf->data[i-1]; float m = buf->data[i - 1];
aggr += m; aggr += m;
buf->data[i] = m; buf->data[i] = m;
} }
@ -118,73 +123,38 @@ typedef struct {
static RGB history[30]; static RGB history[30];
static void sonar_measure(void)
static uint16_t meas(MBuf *mbuf, uint8_t TRIG, uint8_t ECHO)
{ {
pin_up(TRIG_PIN); _delay_ms(6);
_delay_ms(10); pin_up_n(TRIG);
pin_down(TRIG_PIN); _delay_ms(1);
pin_down_n(TRIG);
MeasPhase e1_ph = MEAS_WAIT_1; MeasPhase meas_phase = MEAS_WAIT_1;
MeasPhase e2_ph = MEAS_WAIT_1;
MeasPhase e3_ph = MEAS_WAIT_1;
uint32_t echo1 = 0; uint32_t echo = 0;
uint32_t echo2 = 0;
uint32_t echo3 = 0;
TCNT1 = 0; TCNT1 = 0;
TCCR1B = (0b010 << CS10); TCCR1B = (0b010 << CS10);
while (true) {
switch (e1_ph) {
case MEAS_WAIT_1:
if (pin_is_high(ECHO1_PIN)) {
echo1 = TCNT1;
e1_ph = MEAS_WAIT_0;
}
break;
case MEAS_WAIT_0:
if (pin_is_low(ECHO1_PIN)) {
echo1 = TCNT1 - echo1;
e1_ph = MEAS_DONE;
}
break;
}
switch (e2_ph) {
case MEAS_WAIT_1:
if (pin_is_high(ECHO2_PIN)) {
echo2 = TCNT1;
e2_ph = MEAS_WAIT_0;
}
break;
case MEAS_WAIT_0:
if (pin_is_low(ECHO2_PIN)) {
echo2 = TCNT1 - echo2;
e2_ph = MEAS_DONE;
}
break;
}
switch (e3_ph) {
case MEAS_WAIT_1:
if (pin_is_high(ECHO3_PIN)) {
echo3 = TCNT1;
e3_ph = MEAS_WAIT_0;
}
break;
case MEAS_WAIT_0: while (true) {
if (pin_is_low(ECHO3_PIN)) { if (meas_phase == MEAS_WAIT_1) {
echo3 = TCNT1 - echo3; if (pin_is_high_n(ECHO)) {
e3_ph = MEAS_DONE; echo = TCNT1;
} meas_phase = MEAS_WAIT_0;
}
} else if (meas_phase == MEAS_WAIT_0) {
if (pin_is_low_n(ECHO)) {
echo = TCNT1 - echo;
break; break;
}
} }
if (e1_ph == MEAS_DONE && e2_ph == MEAS_DONE && e3_ph == MEAS_DONE) { // timeout
break; // done if (TCNT1 >= 15000) {
echo = 15000;
break;
} }
} }
@ -194,43 +164,32 @@ static void sonar_measure(void)
// Convert to mm // Convert to mm
echo1 *= 8000; float offset = 255 - echo / (1.25f * 25.0f); //25
echo1 /= 10000;
echo2 *= 8000; if (offset > 255) {
echo2 /= 10000; offset = 255;
} else if (offset < 0) {
offset = 0;
}
echo3 *= 8000; offset = mbuf_add(mbuf, offset);
echo3 /= 10000;
float offset1 = 255 - echo1 / 25.0f; return (uint16_t) roundf(offset); // converted to RGB-level
float offset2 = 255 - echo2 / 25.0f; }
float offset3 = 255 - echo3 / 25.0f;
if (offset1 > 255) offset1 = 255;
if (offset2 > 255) offset2 = 255;
if (offset3 > 255) offset3 = 255;
if (offset1 < 0) offset1 = 0;
if (offset2 < 0) offset2 = 0;
if (offset3 < 0) offset3 = 0;
offset1 = mbuf_add(&mb_offs1, offset1);
offset2 = mbuf_add(&mb_offs2, offset2);
offset3 = mbuf_add(&mb_offs3, offset3);
int c1 = (int) roundf(offset1);
int c2 = (int) roundf(offset2);
int c3 = (int) roundf(offset3);
// char buf[30]; static void sonar_measure(void)
{
uint16_t c1 = meas(&mb_offs1, TRIG1_PIN, ECHO1_PIN);
uint16_t c2 = meas(&mb_offs2, TRIG2_PIN, ECHO2_PIN);
uint16_t c3 = meas(&mb_offs3, TRIG3_PIN, ECHO3_PIN);
for (int i = 30 - 1; i > 0; i--) { for (int i = 30 - 1; i > 0; i--) {
history[i].r = history[i-1].r; history[i].r = history[i - 1].r;
history[i].g = history[i-1].g; history[i].g = history[i - 1].g;
history[i].b = history[i-1].b; history[i].b = history[i - 1].b;
// sprintf(buf, "%d %d %d\n", history[i].r, history[i].g, history[i].b);
// usart_puts(buf);
} }
history[0].r = (uint8_t)c1; history[0].r = (uint8_t)c1;
@ -249,8 +208,29 @@ int main(void)
{ {
hw_init(); hw_init();
usart_puts_P(PSTR("===========================\r\n"));
usart_puts_P(PSTR("\r\n"));
usart_puts_P(PSTR("RGB SONAR DEMO\r\n"));
usart_puts_P(PSTR("FEL CVUT K338\r\n"));
usart_puts_P(PSTR("\r\n"));
usart_puts_P(PSTR("(c) Ondrej Hruska 2016\r\n"));
usart_puts_P(PSTR("\r\n"));
usart_puts_P(PSTR("WS2812B LED strip - DIN: D7\r\n"));
usart_puts_P(PSTR("Sonars (HC-SR04) - trig/echo:\r\n"));
usart_puts_P(PSTR(" \"red\" D3/D2\r\n"));
usart_puts_P(PSTR(" \"green\" D9/D8\r\n"));
usart_puts_P(PSTR(" \"blue\" D11/D10\r\n"));
usart_puts_P(PSTR("\r\n"));
usart_puts_P(PSTR("===========================\r\n"));
int cnt = 0;
while (1) { while (1) {
sonar_measure(); sonar_measure();
_delay_ms(10);
if (++cnt == 20) {
cnt = 0;
pin_toggle(13);
}
} }
} }

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