Commit 494fe8623641c783fae30badddcfc3afb2a4a4df

dcoberii
Fri Apr 24 06:06:52 CEST 2009

Tree SHA1: c948dee
Parent SHA1: 18c8b17 (Added battery status led -- needs to be tested for threshold)
raw diff | raw patch

Fixed accel files, ready for final testing

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	1	// accel.h
	2	//
	3	// Disney Fantasia Project
	4	//
	5	//
1	6
2	7	#ifndef ACCEL_H
3	8	#define ACCEL_H
4	9
5		void initAccel();
6		void pollAccel(accel_data_t *data);
	10	#include "fantasia_packets.h"
	11
	12	void initAccel(); //call with other inits
	13	void updateAccel(); //call with other updates
	14	void configAccel(fantasia_pkt_t *pkt); //give this all valid config packets, sets up triggers and timing, if it gets a mode==POLL then it sends a data packet to the xBee
	15	//void pollAccel(); //depreciated, gave direct access to the data, instead it is just called internally and the packet is sent in accel.pde
7	16
8	17	#endif


1		#define AVERAGE 16
	1	// accel.pde
	2	//
	3	// Disney Fantasia Project
	4	//
	5	//
2	6
3		volatile uint16_t x, y, z;
	7	#include "accel.h"
	8	#include "fantasia_packets.h"
	9	#include <XBeeReader.h>
4	10
5		//volatile static void (*tiggerAccel)();
	11	//Exponential running average 2^N
	12	#define AVERAGE 2
6	13
7		//ADC sampling complete interrupt
8		SIGNAL(ADC_vect){
	14	//modes
	15	uint8_t mode;
	16	#define OFF 0
	17	#define POLL 1
	18	#define TIMER 2
	19	#define TRIGGER 3
9	20
10		//disable interrupts (keeps interrupts from nesting)
11		cli();
	21	//gloabl storage
	22	volatile uint16_t x, y, z;
	23	volatile uint32_t trigger;
	24	volatile uint8_t timer_period;
	25	volatile uint32_t timer_target;
12	26
13		// When we try to change the ADC Channel (by setting ADMUX) the next capture has already started
14		// And so the channel change won't take effect until one cycle later.
15		// When the next ADC_vect is triggered then it will have the value from the old channel but ADMUX
16		// will point to the new channel
17		// Since this code changes the channel on every cycle it means ADMUX is always one step ahead of us
18		// so the reading for y (ADMUX&0x0F==4) is actually the value of x, etc.
19		// That is why the cases do not match
	27	//externs
	28	extern uint8_t cur_app;
	29	extern XBeeReader xbee;
20	30
21		//Mask the ADC mux to see what channel we just read from (give or take)
22		uint8_t test = (ADMUX&0x0F);
	31	//MACROS
	32	#define SQUARE(x) (x>512)?((x-512)(x-512)):((512-x)(512-x))
23	33
24		switch(test){
25		case 4: //X-axis
26		x= ((AVERAGE-1)*x+ADCW)/AVERAGE;
27		ADMUX = 0x45;
28		break;
29		case 5: //Y-axis
30		y= ((AVERAGE-1)*y+ADCW)/AVERAGE;
31		ADMUX = 0x43;
32		break;
33		case 3: //Z-axis
34		z= ((AVERAGE-1)*z+ADCW)/AVERAGE;
35		ADMUX = 0x44;
36		break;
37		}
	34	//Acceleromter Packet Type:
	35	//TODO: check if this is proper, then put it into the fantasia_packets
	36	typedef struct {
	37	uint8_t type;
	38	uint8_t app_uuid;
	39	uint8_t x;
	40	uint8_t y;
	41	uint8_t z;
	42	} accel_data_pkt_t;
38	43
39		//re-enable global interrupts
40		sei();
41	44
	45	//Sets up the trigger function pointer and intializes the vars
	46	void initAccel(){//void(*tiggerFunc)(void)){
	47
	48	//No ADC setup done here, not sure if this is correct
	49	//No interrupt setup done here, we'll do it without instead
	50	//initialize everything to 0:
	51	x=512;
	52	y=512;
	53	z=512;
	54	mode=OFF;
	55
42	56	}
43	57
44	58
45		//Initilizes all ADC stuff
46		//Sets up the trigger function pointer
47		void initAccel(){//void(*tiggerFunc)(void)){
	59	//returns averaged ADC values
	60	//Called during poll or by timer
	61	//Sends a packets
	62	void pollAccel(){
	63
	64	accel_data_pkt_t pkt;
	65
	66	//setup the packet data
	67	pkt.type = ACCEL_DATA;
	68	pkt.app_uuid = cur_app;
	69
	70	//perform the 45 degree transformation:
	71	pkt.x=((0x1FE - (y>>2) - (x>>2)) * 181)>>8;
	72	pkt.y=(((y>>2) + 0xFF - (x>>2)) * 181)>>8;
	73	pkt.z=0xFF-(z>>2);
	74
	75	//check for overflow in x/y:
	76	if((x+y)<600){pkt.x=0xFF;}
	77	if((y-y)>420){pkt.y=0xFF;}
	78
	79	//send out the packet:
	80	xbee.sendZ( (*uint8_t)&pkt, sizeof(accel_data_pkt_t) );
48	81
49		//setup ADC in free running mode (see datasheet)
50		ADMUX = 0x44; // 8b 01 0 x 0100 (aVCC RightAdjust x Channel 4)
51		ADCSRB = 0x0; // 8b x 0 xxx 000 (x ACME xxx FreeRunningMode)
52		ADCSRA = 0xE8; // 8b 1 1 1 x 1 000 (EnableADC Start EnableTrigger x EnableInt clk/2)
53		x=0;
54		y=0;
55		z=0;
56		//tiggerAccel=triggerFunc;
57
58	82	}
59	83
	84	//Called during the update loop
	85	//Handles trigger and timer
	86	//actually reads acceleromter
	87	void updateAccel(){
	88
	89	//check if we need the accelerometer
	90	if(mode!=OFF){
	91	//Update the acceleromter globals using the EMA
	92	x = ((1<<AVERAGE-1)*x+analogRead(accel_x))>>AVERAGE;
	93	y = ((1<<AVERAGE-1)*y+analogRead(accel_y))>>AVERAGE;
	94	z = ((1<<AVERAGE-1)*z+analogRead(accel_z))>>AVERAGE;
	95
	96	//If we are in trigger mode, check to see if we've triggered
	97	if(mode==TRIGGER){
	98	if(trigger<SQUARE(x)+SQUARE(y)+SQUARE(z)){
	99	//send a packet
	100	pollAccel();
	101	}
	102	}
	103
	104	if(mode==TIMER){
	105	if(millis()>timer_target){
	106	//send a packet
	107	timer_target += timer_period;
	108	pollAccel();
	109	}
	110	}
	111	}
60	112
61		//returns ADC values (not averaged yet)
62		//Called during poll or by timer
63		void pollAccel(accel_data_t *data){
	113	}
64	114
65		//this is a pirimitive form of mutexing
66		cli();
67		//perform the 45 degree transformation:
68		data->x=(((0xFF-(y>>2))181)>>8)+(((0xFF-(x>>2))181)>>8);
69		data->y=(((y>>2)181)>>8)+(((0xFF-(x>>2))181)>>8);
70		data->z=0xFF-(z>>2);
71		sei();
	115	//Accelerometer config
	116	//ARGS: just pass us the packet address:
	117	void configAccel(fantasia_pkt_t *pkt){
	118
	119	mode = pkt->accel_config.mode;
	120
	121	switch( pkt->accel_config.mode){
	122	case TRIGGER:
	123	trigger = (pkt->accel_config.data)<<12;
	124	break;
	125	case TIMER:
	126	timer_period = pkt->accel_config.data;
	127	timer_target = millis() + timer_period;
	128	break;
	129	case POLL:
	130	pollAccel();
	131	break;
	132	}
72	133
73	134	}

Commit 494fe8623641c783fae30badddcfc3afb2a4a4df

Gitorious