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arduino-spatial-rgb
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sdfsdf

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master
Ondřej Hruška 9 years ago
parent ac0bc06e29
commit b7b82a5422
1 changed files with 85 additions and 70 deletions
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  1. 153
      main.c

153
main.c
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@ -6,6 +6,7 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdio.h>
// Include stuff from the library // Include stuff from the library
#include "lib/iopins.h" #include "lib/iopins.h"
@ -14,11 +15,13 @@
static void sonar_start(void); static void sonar_start(void);
#define WS_PIN 5 #define WS_PIN 6
#define TRIG_PIN 2 #define TRIG_PIN 2
#define ECHO1_PIN 3 #define ECHO1_PIN 3
#define ECHO2_PIN 4 #define ECHO2_PIN 4
#define ECHO3_PIN 5
/** Wait long enough for the colors to show */ /** Wait long enough for the colors to show */
@ -27,18 +30,6 @@ static void ws_show(void)
_delay_us(10); _delay_us(10);
} }
static inline __attribute__((always_inline))
void delay_cyc(uint8_t __count)
{
__asm__ volatile (
"1: dec %0" "\n\t"
"brne 1b"
: "=r" (__count)
: "0" (__count)
);
}
/** Send one byte to the RGB strip */ /** Send one byte to the RGB strip */
static inline __attribute__((always_inline)) static inline __attribute__((always_inline))
void ws_send_byte(uint8_t bb) void ws_send_byte(uint8_t bb)
@ -46,13 +37,21 @@ 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) {
delay_cyc(4); __asm__ volatile ("nop");
__asm__ volatile ("nop");
__asm__ volatile ("nop");
__asm__ volatile ("nop");
__asm__ volatile ("nop");
pin_down(WS_PIN); pin_down(WS_PIN);
delay_cyc(1); __asm__ volatile ("nop");
} else { } else {
delay_cyc(1); __asm__ volatile ("nop");
pin_down(WS_PIN); pin_down(WS_PIN);
delay_cyc(4); __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);
@ -73,9 +72,12 @@ static void hw_init(void)
usart_init(BAUD_115200); usart_init(BAUD_115200);
as_output(2); as_output(2);
as_input_pu(3); as_input_pu(3);
as_input_pu(4); as_input_pu(4);
as_output(5); // WS as_input_pu(5);
as_output(6); // WS
} }
typedef enum { typedef enum {
@ -85,44 +87,50 @@ typedef enum {
} MeasPhase; } MeasPhase;
#define PULSE_LEN 9 #define MBUF_LEN 16
const uint8_t pulse[PULSE_LEN] = {79, 150, 206, 243, 255, 243, 206, 150, 79};
#define MBUF_LEN 64
typedef struct { typedef struct {
float data[MBUF_LEN]; float data[MBUF_LEN];
} MBuf; } MBuf;
float mbuf_add(MBuf *buf, float value) static float mbuf_add(MBuf *buf, float value)
{ {
float aggr = value; float aggr = value;
for (int i = 1; i < MBUF_LEN; i++) { for (int i = MBUF_LEN - 1; i > 0; i--) {
aggr += buf->data[i]; float m = buf->data[i-1];
buf->data[i] = buf->data[i-1]; aggr += m;
buf->data[i] = m;
} }
buf->data[0] = value; buf->data[0] = value;
return aggr / (float)MBUF_LEN; return aggr / (float)MBUF_LEN;
} }
MBuf mb_offs1; static MBuf mb_offs1;
MBuf mb_offs2; static MBuf mb_offs2;
static MBuf mb_offs3;
typedef struct {
uint8_t r;
uint8_t g;
uint8_t b;
} RGB;
static RGB history[30];
static void sonar_measure(void) static void sonar_measure(void)
{ {
usart_puts("MEASURE!\n");
pin_up(TRIG_PIN); pin_up(TRIG_PIN);
_delay_ms(10); _delay_ms(10);
pin_down(TRIG_PIN); pin_down(TRIG_PIN);
MeasPhase e1_ph = MEAS_WAIT_1; MeasPhase e1_ph = MEAS_WAIT_1;
MeasPhase e2_ph = MEAS_WAIT_1; MeasPhase e2_ph = MEAS_WAIT_1;
MeasPhase e3_ph = MEAS_WAIT_1;
uint32_t echo1 = 0; uint32_t echo1 = 0;
uint32_t echo2 = 0; uint32_t echo2 = 0;
uint32_t echo3 = 0;
TCNT1 = 0; TCNT1 = 0;
TCCR1B = (0b010 << CS10); TCCR1B = (0b010 << CS10);
@ -159,7 +167,23 @@ static void sonar_measure(void)
break; break;
} }
if (e1_ph == MEAS_DONE && e2_ph == MEAS_DONE) { 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:
if (pin_is_low(ECHO3_PIN)) {
echo3 = TCNT1 - echo3;
e3_ph = MEAS_DONE;
}
break;
}
if (e1_ph == MEAS_DONE && e2_ph == MEAS_DONE && e3_ph == MEAS_DONE) {
break; // done break; // done
} }
} }
@ -176,54 +200,45 @@ static void sonar_measure(void)
echo2 *= 8000; echo2 *= 8000;
echo2 /= 10000; echo2 /= 10000;
char buf[10]; echo3 *= 8000;
echo3 /= 10000;
ltoa(echo1, buf, 10); float offset1 = 255 - echo1 / 25.0f;
usart_puts("echo1: "); float offset2 = 255 - echo2 / 25.0f;
usart_puts(buf); float offset3 = 255 - echo3 / 25.0f;
usart_puts(" -> ");
float offset1 = echo1 / 100.0f; if (offset1 > 255) offset1 = 255;
float offset2 = echo2 / 100.0f; 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); offset1 = mbuf_add(&mb_offs1, offset1);
offset2 = mbuf_add(&mb_offs2, offset2); offset2 = mbuf_add(&mb_offs2, offset2);
offset3 = mbuf_add(&mb_offs3, offset3);
int of1i = (int) roundf(offset1); int c1 = (int) roundf(offset1);
int of2i = (int) roundf(offset2); int c2 = (int) roundf(offset2);
int c3 = (int) roundf(offset3);
of1i = 15 - of1i; // char buf[30];
of2i = 15 - of2i;
int gi = -15 + PULSE_LEN/2 - of1i - 15; for (int i = 30 - 1; i > 0; i--) {
int bi = -15 + PULSE_LEN/2 + of2i + 15; history[i].r = history[i-1].r;
int ri = -15 + PULSE_LEN/2 + 0; history[i].g = history[i-1].g;
history[i].b = history[i-1].b;
uint8_t r, g, b; // sprintf(buf, "%d %d %d\n", history[i].r, history[i].g, history[i].b);
for (int i = 0; i < 32; i++) { // usart_puts(buf);
if (ri >= 0 && ri < PULSE_LEN) {
r = pulse[ri];
} else {
r = 0;
} }
if (gi >= 0 && gi < PULSE_LEN) { history[0].r = (uint8_t)c1;
g = pulse[gi]; history[0].g = (uint8_t)c2;
} else { history[0].b = (uint8_t)c3;
g = 0;
}
if (bi >= 0 && bi < PULSE_LEN) { for (int i = 0; i < 30; i++) {
b = pulse[bi]; ws_send_rgb(history[i].r, history[i].g, history[i].b);
} else {
b = 0;
}
ws_send_rgb(r,g,b);
ri++;
gi++;
bi++;
} }
ws_show(); ws_show();
@ -236,6 +251,6 @@ int main(void)
while (1) { while (1) {
sonar_measure(); sonar_measure();
_delay_ms(20); _delay_ms(10);
} }
} }

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