X-Git-Url: https://www.fi.muni.cz/~kas/git//home/kas/public_html/git/?a=blobdiff_plain;ds=sidebyside;f=firmware%2Ffirmware.c;h=5400714f48b10645dc196673493eb88d7a321871;hb=0bbaad8dc171999d4aeabae9b5b222364f066388;hp=eb064cd8b79f3b97511ab9d2030eeae6002fc715;hpb=f38528cf6e2a1a91ec84b8ad9d748c36ea14cc80;p=openparking.git

diff --git a/firmware/firmware.c b/firmware/firmware.c
index eb064cd..5400714 100644
--- a/firmware/firmware.c
+++ b/firmware/firmware.c
@@ -5,8 +5,9 @@
 #include "clock.h"
 #include "modbus.h"
 
-#define ECHO_TIMEOUT		(CLOCK_HZ/10)	// 10 ms
-#define MEASUREMENT_WAIT	(CLOCK_HZ/3)	// three triggers per second
+#define ECHO_TIMEOUT		(CLOCK_HZ/10)	// 100 ms
+#define MEASUREMENT_WAIT	(2*ECHO_TIMEOUT)
+#define MEASUREMENT_SHIFT	0		// running avg (1 << M_SHIFT)
 
 #define N_TRIGGERS 3
 #define N_SENSORS 12
@@ -23,6 +24,7 @@
 #define distances	(hold_regs+MB_N_HOLD_REGS_EEPROM+1)
 #define free_bitmap	(hold_regs[MB_N_HOLD_REGS_EEPROM+13])
 #define err_bitmap	(hold_regs[MB_N_HOLD_REGS_EEPROM+14])
+#define max_distances	(hold_regs+MB_N_HOLD_REGS_EEPROM+21)
 
 static void pull_trigger(uint8_t trig)
 {
@@ -70,10 +72,33 @@ static void do_measurement(unsigned char trig)
 				to_start &= ~mask;
 				to_measure |= mask;
 			} else if ((to_measure & mask) && !(bits & mask)) {
+#if MEASUREMENT_SHIFT > 0
+				uint16_t old_d;
+#endif
+				uint16_t new_d;
+				uint8_t idx = trig*N_TRIG_SENSORS+i;
 				// echo end
 				to_measure &= ~mask;
-				distances[trig*N_TRIG_SENSORS + i]
-					= now - starttimes[i];
+				new_d = now - starttimes[i];
+				if (new_d > max_distances[idx])
+					max_distances[idx] = new_d;
+
+#if MEASUREMENT_SHIFT > 0
+				old_d = distances[idx];
+
+				if (old_d == 0
+					|| old_d == -1) {
+					distances[idx] = new_d;
+				} else {
+					distances[idx] = (
+						(old_d << MEASUREMENT_SHIFT)
+						+ new_d
+						- old_d
+						) >> MEASUREMENT_SHIFT;
+				}
+#else
+				distances[idx] = new_d;
+#endif
 			}
 		}
 	}
@@ -88,24 +113,63 @@ static void do_measurement(unsigned char trig)
 static void led_set(uint8_t led, uint8_t state)
 {
 	if (led == 0) {
-		if (state) {
-			PORTC |= _BV(PC5);
-			led_bitmap |= 1;
-		} else {
-			PORTC &= ~_BV(PC5);
+		switch (state) {
+		case 0:
 			led_bitmap &= ~1;
+			led_bitmap &= ~2;
+			break;
+		case 1:
+			led_bitmap |= 1;
+			led_bitmap &= ~2;
+			break;
+		default: // error
+			led_bitmap |= 2;
+			break;
 		}
 	} else {
-		if (state) {
-			PORTB |= _BV(PB5);
-			led_bitmap |= 2;
-		} else {
-			PORTB &= ~_BV(PB5);
-			led_bitmap &= ~2;
+		switch (state) {
+		case 0:
+			led_bitmap &= ~4;
+			led_bitmap &= ~8;
+			break;
+		case 1:
+			led_bitmap |= 4;
+			led_bitmap &= ~8;
+			break;
+		default:
+			led_bitmap |= 8;
+			break;
 		}
 	}
 }
 
+static void leds_update()
+{
+	if (led_bitmap & 1) {
+		PORTC |= _BV(PC5);
+	} else {
+		PORTC &= ~_BV(PC5);
+	}
+
+	if (led_bitmap & 2) {
+		DDRC &= ~_BV(PC5);
+	} else {
+		DDRC |= _BV(PC5);
+	}
+
+	if (led_bitmap & 4) {
+		PORTB |= _BV(PB5);
+	} else {
+		PORTB &= ~_BV(PB5);
+	}
+
+	if (led_bitmap & 8) {
+		DDRB |= _BV(PB5);
+	} else {
+		DDRB &= ~_BV(PB5);
+	}
+}
+
 static void eval_bitmaps()
 {
 	uint16_t free_b = 0, err_b = 0, mask;
@@ -127,7 +191,9 @@ static void eval_bitmaps()
 	err_bitmap  = err_b;
 
 	if (led1_sensors) {
-		if (led1_sensors & free_bitmap) {
+		if (led1_sensors & err_bitmap) {
+			led_set(0, 2);
+		} else if (led1_sensors & free_bitmap) {
 			led_set(0, 1);
 		} else {
 			led_set(0, 0);
@@ -135,7 +201,9 @@ static void eval_bitmaps()
 	}
 
 	if (led2_sensors) {
-		if (led2_sensors & free_bitmap) {
+		if (led2_sensors & err_bitmap) {
+			led_set(1, 2);
+		} else if (led2_sensors & free_bitmap) {
 			led_set(1, 1);
 		} else {
 			led_set(1, 0);
@@ -178,6 +246,7 @@ int main()
 		}
 
 		eval_bitmaps();
+		leds_update(); // might be written from modbus
 //		led_set(0,
 //			distances[4] > 100 || distances[11] > 100);
 	}