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refactor US driver in order to dont block the interrupt #1

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refactor US driver in order to dont block the interrupt #1

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193 changes: 133 additions & 60 deletions LotMonitor/ATtiny85/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -5,25 +5,33 @@
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#ifndef AVR_STUDIO
#include "light_ws2812.h" // https://github.com/cpldcpu/light_ws2812
#endif // AVR_STUDIO
#include "main.h"

#define ONBOARD_LED PB1
#define SRF05_ECHO PB2
#define SRF05_TRIGGER PB3
// WS2819_DATA PB4 // See Makefile WS2812_PIN

#define INTERRUPT_DIV 10

#define INTERRUPT_DIV 10
#define ECHO_TIMEOUT 517 // 30000us / 58us
#define TRIGGER_TIMER_FREQ 160 // 100Hz
#define ECHO_TIMER_FREQ 116 // 58us interruption

#define WS2819_STRIPE_LEN 5
#define WS2819_BRIGHTNESS 25 // percent [optional, comment for full brightness]
#define WS2819_BRIGHTNESS 100 // percent [optional, comment for full brightness]

struct cRGB led[WS2819_STRIPE_LEN+1]; // one more to prevent array overflow

volatile int32_t interrupt_cnt = INTERRUPT_DIV;
volatile int32_t SRF05_distance_cm = 0;
// one more to prevent array overflow
;
volatile int32_t last_25cm_flicker = 0;
volatile struct US_variables SRF05_values;


struct cRGB led[WS2819_STRIPE_LEN+1];
//---------
// This function lights a bar in the given RGB and length.
//----------
Expand All @@ -49,116 +57,181 @@ void inline setLEDS(uint8_t r, uint8_t g, uint8_t b, uint8_t c) {
//---------
// This function turns all LEDs off
//----------
void inline allOFF() {
void inline allOFF(uint8_t update_available) {
//----------
allColor(color_black);
if (update_available == False) //WS2812 library is dis-activating interrupt when change the color, creating error in the US measurements
{
allColor(color_black);
}

}

//---------
// This function lights all LEDs to a given color
//----------
void inline allColor(struct cRGB color) {
//----------
setLEDS(color.r,color.g,color.b, WS2819_STRIPE_LEN);


setLEDS(color.r,color.g,color.b, WS2819_STRIPE_LEN);

}

//---------
// This function lights a bar in the given color and length.
//----------
void inline barColor(struct cRGB color, int bars) {
void inline barColor(struct cRGB color, int bars,uint8_t update_available) {
//----------
setLEDS(color.r,color.g,color.b, bars);
if (update_available == False)
{
setLEDS(color.r,color.g,color.b, bars);
}
}


//---------
// This function is executed 100 times per sec by timer interupt (See TCCR0B)
// This function is executed 100 times per sec by timer interrupt (See TCCR0B)
//----------
ISR(TIM0_COMPA_vect) {
//----------

switch(SRF05_values.state)
{
case trigger:

if(SRF05_values.trigger_elapsed >= INTERRUPT_DIV ) // software divisor to trigger measure every 10 ms
{
SRF05_values.updating_measures = True;
PORTB |= (1 << SRF05_TRIGGER);
set_timer0_preescaler_and_compare_registers(TIM0_PREESCALER_8,ECHO_TIMER_FREQ); //set prescaler to 8 (CLK=16MHz/8/116=97.17241Hz, 58us)
SRF05_values.state = waiting_for_echo;
}
else
{
SRF05_values.updating_measures = False;
SRF05_values.trigger_elapsed++ ;
}
break;

case waiting_for_echo:
PORTB &= ~(1 << SRF05_TRIGGER); //deactivate trigger pin and wait for echo signal. Maximum waiting time 30 ms
if(!(PINB & (1 << SRF05_ECHO)))
{
if(SRF05_values.echo_elapsed >= ECHO_TIMEOUT)
{

SRF05_values.state = time_out;
}
else
{
SRF05_values.echo_elapsed++;
}
}
else
{
SRF05_values.state = echo_received;
}
break;

case echo_received:
PINB |= (1 << ONBOARD_LED); //With logic analyzer you can check that the measurement are corrects connecting in PB1
SRF05_values.echo_total_time++;

if(SRF05_values.echo_total_time < ECHO_TIMEOUT)
{
if(!(PINB & (1 << SRF05_ECHO)))
{
SRF05_values.echo_buffered_total_time = SRF05_values.echo_total_time;
SRF05_values.echo_elapsed = 0;
SRF05_values.trigger_elapsed = 0;
SRF05_values.echo_total_time = 0;
set_timer0_preescaler_and_compare_registers(TIM0_PREESCALER_1024,TRIGGER_TIMER_FREQ); //set prescaler to 1024 (CLK=16MHz/1024/160=97.68Hz, 0.010s)
SRF05_values.state = trigger;
}
}
else
{
SRF05_values.state = time_out;
}


break;

case time_out:

SRF05_values.echo_elapsed = 0;
SRF05_values.trigger_elapsed = 0;
SRF05_values.echo_total_time = 0;
SRF05_values.echo_buffered_total_time = 0xffff;
set_timer0_preescaler_and_compare_registers(TIM0_PREESCALER_1024,TRIGGER_TIMER_FREQ); //set prescaler to 1024 (CLK=16MHz/1024/160=97.68Hz, 0.010s)
SRF05_values.state = trigger;


break;
}

if (++interrupt_cnt > INTERRUPT_DIV) // skip some interrupts b/c SRF05
{ // handles max. 20 trigger/sec.
interrupt_cnt = 0; // INTERRUPT_DIV=10 does 10/sec

last_25cm_flicker = !last_25cm_flicker; // See "distance_cm < 26" in main
// while(1) loop
PORTB |= (1 << SRF05_TRIGGER); // Trigger SRF05 Measurement
_delay_us(10);
PORTB &= ~(1 << SRF05_TRIGGER);

uint32_t echo_time_us = 0;
uint32_t echo_wait_us = 300; // timeout to wait for echo in us

while ( !(PINB & (1 << SRF05_ECHO)) & (echo_wait_us > 0) ) { // Wait 4 echo
_delay_us(1); // max. 300us
--echo_wait_us;
}

if (echo_wait_us) { // we got an echo
PORTB |= (1 << ONBOARD_LED); // turn on led (just for fun)

while ( (PINB & (1 << SRF05_ECHO)) ) { // count echo HIGH time
_delay_us(1);
++echo_time_us;
}
} else {
allColor(color_blue); // no echo, sensor gone?
}

if (echo_time_us > 17450) { // 17450 / 58 = 300.86cm, to be ignored
SRF05_distance_cm = 0;
} else {
SRF05_distance_cm = echo_time_us / 58;
}

PORTB &= ~(1 << ONBOARD_LED); // turn off led
}
}

//---------
// This function is main entry point
//----------
int main(void) {
//----------

SRF05_values.echo_elapsed = 0;
SRF05_values.state = trigger;
SRF05_values.trigger_elapsed = 0;
SRF05_values.echo_total_time = 0;
SRF05_values.echo_buffered_total_time = 0xffff;

// Setup Data-Direction-Register
DDRB &= ~(1 << SRF05_ECHO); // set data direction register for HY-SRF05 echo port
PORTB &= ~(1 << SRF05_ECHO); // No internal pullup

DDRB |= (1 << ONBOARD_LED); // set data direction register for ONBOARD_LED as output
PORTB &= ~(1 << ONBOARD_LED);
DDRB |= (1 << SRF05_TRIGGER); // set data direction register for HY-SRF05 trigger port

TCCR0A |= _BV(WGM01); // set timer counter mode to CTC
TCCR0B |= _BV(CS02)|_BV(CS00); // set prescaler to 1024 (CLK=16MHz/1024/160=97.68Hz, 0.010s)
OCR0A = 160; // set Timer's counter max value
TIMSK |= _BV(OCIE0A); // enable Timer CTC interrupt


set_timer0_preescaler_and_compare_registers(TIM0_PREESCALER_1024,TRIGGER_TIMER_FREQ); //set prescaler to 1024 (CLK=16MHz/1024/160=97.68Hz, 0.010s)

sei(); //enable global interrupt

while(1)
{
int distance_cm = SRF05_distance_cm; // snapshot b/c volatile may change
uint16_t distance_cm = SRF05_values.echo_buffered_total_time; // snapshot b/c volatile may change
int bars;

if ((distance_cm < 1) | (distance_cm > 300)) { // Switch stripe off if
allOFF(); // invalid (0) distance or
allOFF(SRF05_values.updating_measures); // invalid (0) distance or
} else { // greater than 3m.
if (distance_cm < 26 ) { // less than 26cm, flicker
_delay_ms(100); //will be optimized
if ( last_25cm_flicker ) { // all leds like crazy
allOFF(); // based on volatile
} else { // last_25cm_flicker.
barColor(color_red, WS2819_STRIPE_LEN); // See ISR(TIM0_COMPA_vect)
last_25cm_flicker = 0;
allOFF(SRF05_values.updating_measures); // based on volatile
} else {
last_25cm_flicker = 1 ; // last_25cm_flicker.
barColor(color_red, WS2819_STRIPE_LEN,SRF05_values.updating_measures); // See ISR(TIM0_COMPA_vect)
}
} else { // Distance 26cm-3m:
if (distance_cm < 101) { // more red leds if closer
bars = (100 - distance_cm) / 15; // than 1m till 26cm. One
barColor(color_red, ++bars); // additional led per 15cm
barColor(color_red, ++bars,SRF05_values.updating_measures); // additional led per 15cm
} else { // less green leds if closer
bars = (distance_cm-100)/40; // than 3m till 1m. One led
barColor(color_green, ++bars); // less per 40cm.
barColor(color_green, ++bars,SRF05_values.updating_measures); // less per 40cm.
}
}
}
}
}


void set_timer0_preescaler_and_compare_registers(uint8_t preescaler,uint8_t compare)
{
TCCR0B &= TIM0_NO_CLOCK;
TCNT0 = 0 ;
OCR0A = compare;
TCCR0B |= preescaler;
}
37 changes: 36 additions & 1 deletion LotMonitor/ATtiny85/main.h
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Original file line number Diff line number Diff line change
@@ -1,11 +1,46 @@
// cRGB is internal grb !

#include "light_ws2812.h"

#define TIM0_NO_CLOCK (~(1<<CS02 | 1<<CS01 | 1<<CS00))
#define TIM0_PREESCALER_1 1<<CS00
#define TIM0_PREESCALER_8 1<<CS01
#define TIM0_PREESCALER_64 1<<CS01 | 1<<CS00
#define TIM0_PREESCALER_256 1<<CS02
#define TIM0_PREESCALER_1024 1<<CS02 | 1<<CS00

static const struct cRGB color_black = { 0, 0, 0 };
static const struct cRGB color_red = { 0, 255, 0 };
static const struct cRGB color_green = { 255, 0, 0 };
static const struct cRGB color_blue = { 0, 0, 255 };
static const struct cRGB color_white = { 255, 255, 255 };

void allOFF();
void allOFF(uint8_t update_available);
void all(uint8_t r, uint8_t g, uint8_t b);
void allRGB(uint8_t r, uint8_t g, uint8_t b);
void allColor(struct cRGB color);

void set_timer0_preescaler_and_compare_registers(uint8_t preescaler,uint8_t compare);

#define True 1
#define False 0


enum US_states
{
trigger,
waiting_for_echo,
echo_received,
time_out,

};

struct US_variables
{
uint16_t trigger_elapsed;
uint16_t echo_elapsed;
uint16_t echo_total_time;
uint16_t echo_buffered_total_time;
uint8_t updating_measures;
enum US_states state;
}
72 changes: 0 additions & 72 deletions LotMonitor/ATtiny85/main.hex
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