Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file lcd.h

 * @brief Contains definitions for dealing with the LCD screen.

 * 

 * Contains definitions and functions for dealing with the 

 * LCD screen.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#ifndef _LCD_H_

#define _LCD_H_

/**

 * @addtogroup lcd

 * @{

 **/

/** @brief Initialize the LCD screen **/

void lcd_init(void);

/** @brief Clear the LCD screen **/

void lcd_clear_screen( void );

/** @brief Print a char to the LCD screen **/

void lcd_putc(char c);

/** @brief Print a string to the LCD screen **/

void lcd_puts(char *s);

/** @brief Print an int to the LCD screen **/

void lcd_puti(int value);

/** @brief Set the current cursor position **/

void lcd_gotoxy(int x, int y);

/** @} **/

#endif

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file battery.c

 * @brief Implementation for reading battery level

 *

 * Contains functions for reading the battery level.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include "battery.h"

#include "analog.h"

//Constants for Battery

//Constants determined experimentally 2/9/2007 - James Kong

//See Battery8_data.xls for experiment data

#define BATTERY_NEXT_READ_PRESCALAR 5

#define MAX_LOW_COUNT 5

//global variables

int battery_low_count;

/**

 * @defgroup battery Battery

 * @brief Functions for reading battery voltage.

 * 

 * Contains functions for checking the current

 * voltage of the battery. Include battery.h to

 * access these functions.

 *

 * @{

 **/

/**

 * Returns the voltage of the battery as an analog8

 * reading. 128 is approximately 5 volts. analog_init

 * must be called before using this function.

 *

 * @return the voltage of the battery as an analog8

 * reading

 *

 * @see analog_init, battery, analog8

 **/

int battery8(void)

{

  return analog8(BATT_PORT);

}

/**

 * Returns the voltage of the battery in deciVolts.

 * analog_init must be called before using this function.

 *

 * @return the voltage of the battery in deciVolts.

 *

 * @see analog_init, battery8

 **/

int battery(void)

{

  /* 5 volts is the max, 255 is the max 8bit number , *2 for the divider */

        return analog8(BATT_PORT) * 500 >>7;

}

/**

 * Checks if the battery is low. analog_init must be called before

 * this function can be used. This function waits for several low

 * battery readings in a row to avoid false positives.

 *

 * @return 1 if the battery is low, 0 otherwise

 *

 * @see analog_init

 **/

char battery_low(void)

{

  static char next_read = 0;

  static char ret = 0;

  int batt_reading = battery8();

  if(next_read == 0) 

  {

    if(batt_reading > BATTERY_LOWV)

    {

        ret = 0;

        battery_low_count = 0;

    }

    else

    {

        battery_low_count++;

        if( battery_low_count >= MAX_LOW_COUNT )

        {

            ret = 1;

            battery_low_count = 0;

        }

    }

    next_read = BATTERY_NEXT_READ_PRESCALAR;

  }

  else next_read--;

  return ret;

}

/**

 * Averages n_samples battery8 readings. This function may

 * take a while to complete, and is only made available

 * for convenience. analog_init must be called before this

 * function may be used.

 *

 * @param n_samples the number of times to sample the battery voltage

 *

 * @return the average reading for the battery voltage, where 128

 * is approximately 5 Volts.

 *

 * @see analog_init, battery

 **/

int battery8_avg(int n_samples)

{

  int i;

  long int sum = 0;

  for(i = 0; i < n_samples; i++) 

  {

    sum += battery8();

  }

  return (int)(sum / n_samples);

}

/** @} **/ //end defgroup

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file dio.c

 * @brief Digital Input and Output

 *

 * Implementation of functions for digital input and output.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <avr/interrupt.h>

#include "dio.h"

#include "time.h"

#include "lights.h"

/**

 * @defgroup dio Digital Input / Output

 * @brief Controls digital input and output

 * 

 * A general note on how port / pin numbers work:<br>

 * The portpin is used to select both the bank and which pin is selected.

 * 6 bits are used (lower 6, ex: 0b00abcdef).

 * The first 3 (abc in this example) are used to select the bank.<br>

 * A = 001<br>

 * B = 010<br>

 * C = 011<br>

 * D = 100<br>

 * E = 101<br>

 * F = 110<br>

 * G = 111<br><br>

 * 		

 * The bank can be found by doing portpin >> 3. <br>

 * 		

 * The next three (def in this example) are used to select the pin number.

 * These three bits are just the binary representation of the pin number.<br>

 * <br>

 * The pin number can be found by doing portpin & 0b111.<br><br>

 *

 * Include dio.h to access these functions.

 **/

/**

 * Reads the selected portpin.

 * 

 * @param portpin The portpin to be read. See the general description

 * for a description of portpins.

 *

 * @return 1 or 0, depending on the value of the portpin.

 **/

int digital_input(int portpin) {

  int pin = portpin & 0x7;

  int pin_val = 0;

  switch(portpin >> 3) {

  case _PORT_A:

    DDRA &= ~_BV(pin);

    pin_val = PINA;

    return (pin_val >> pin) & 1;

  case _PORT_B:

    DDRB &= ~_BV(pin);

    pin_val = PINB;

    return (pin_val >> pin) & 1;

  case _PORT_C:

    DDRC &= ~_BV(pin);

    pin_val = PINC;

    return (pin_val >> pin) & 1;

  case _PORT_D:

    DDRD &= ~_BV(pin);

    pin_val = PIND;

    return (pin_val >> pin) & 1;

  case _PORT_E:

    DDRE &= ~_BV(pin);

    pin_val = PINE;

    return (pin_val >> pin) & 1;

  case _PORT_F:

    if(pin>=4) {

      MCUSR|=1<<7;

      MCUSR|=1<<7;

    }

    DDRF &= ~_BV(pin);

    pin_val = PINF;

    return (pin_val >> pin) & 1;

  case _PORT_G:

    DDRG &= ~_BV(pin);

    pin_val = PING;

    return (pin_val >> pin) & 1;

  default: break;

  }

  return -1;

}

/**

 * Enables pullup on a pin. If it is an output pin, the pin will output

 * 1.

 *

 * @param portpin the pin to enable pullup on. See the general description

 * for a discussion of portpins.

 **/

void digital_pull_up(int portpin) {

  int pins = portpin & 0x07;

  switch(portpin >> 3) {

  case _PORT_A:

    PORTA |= _BV(pins);

    break;

  case _PORT_B:

    PORTB |= _BV(pins);

    break;    

  case _PORT_C:

    PORTC |= _BV(pins);

    break;    

  case _PORT_D:

    PORTD |= _BV(pins);

    break;    

  case _PORT_E:

    PORTE |= _BV(pins);

    break;    

  case _PORT_F:

    PORTF |= _BV(pins);

    break;    

  case _PORT_G:

    PORTG |= _BV(pins);

    break;

  }

}

/**

 * Sets portpin to the given value.

 * 

 * @param portpin the portpin to output to. See the general

 * description for a discussion of portpins.

 *

 * @param val the value to set the portpin to. 0 for off,

 * nonzero for on.

 **/

void digital_output(int portpin, int val) {

  int pins = portpin & 0x07;

  /* if you want to set to 0... */

  if(val == 0) {

    switch(portpin >> 3) {

    case _PORT_A:

      DDRA |= _BV(pins);

      PORTA &= (0XFF - _BV(pins));

      break;

    case _PORT_B:

      DDRB |= _BV(pins);

      PORTB &= (0XFF - _BV(pins));

      break;    

    case _PORT_C:

      DDRC |= _BV(pins);

      PORTC &= (0XFF - _BV(pins));

      break;    

    case _PORT_D:

      DDRD |= _BV(pins);

      PORTD &= (0XFF - _BV(pins));

      break;    

    case _PORT_E:

      DDRE |= _BV(pins);

      PORTE &= (0XFF - _BV(pins));

      break;    

    case _PORT_F:

      DDRF |= _BV(pins);

      PORTF &= (0XFF - _BV(pins));

      break;    

    case _PORT_G:

      DDRG |= _BV(pins);

      PORTG &= (0XFF - _BV(pins));

      break;

    }

  } else { /* ( val == 1) */ 

    switch(portpin >> 3) {

    case _PORT_A:

      DDRA |= _BV(pins);

      PORTA |= _BV(pins);

      break;

    case _PORT_B:

      DDRB |= _BV(pins);

      PORTB |= _BV(pins);

      break;    

    case _PORT_C:

      DDRC |= _BV(pins);

      PORTC |= _BV(pins);

      break;    

    case _PORT_D:

      DDRD |= _BV(pins);

      PORTD |= _BV(pins);

      break;    

    case _PORT_E:

      DDRE |= _BV(pins);

      PORTE |= _BV(pins);

      break;    

    case _PORT_F:

      DDRF |= _BV(pins);

      PORTF |= _BV(pins);

      break;    

    case _PORT_G:

      DDRG |= _BV(pins);

      PORTG |= _BV(pins);

      break;

    }

  }

}

/**

 * Checks if button1 is currently pressed.

 * 

 * @return 1 if button1 is pressed, 0 otherwise

 *

 * @see button1_wait, button1_click

 **/

int button1_read( void ) {

  int pin_val;

  DDRG &= ~_BV(PING0);

  PORTG|= _BV(PING0);

  pin_val = PING;

  return !((pin_val & _BV(PING0)));

}

/**

 * Delays execution until button1 is pressed.

 *

 * @see button1_read, button1_click

 **/

void button1_wait( void ) {

  while(!button1_read() ) {

    delay_ms(15);

  }

}

/**

 * If button1 is pressed, waits until it is released before returning.

 * Otherwise, the function returns immediately.

 *

 * @return 1 if button1 has been pressed, 0 otherwise

 *

 * @see button1_read, button1_wait

 **/

int button1_click() {

  if(button1_read()) {

    while(button1_read());

    return 1;

  } else {

    return 0;

  }

}

/**

 * Checks if button2 is currently pressed.

 * 

 * @return 1 if button2 is pressed, 0 otherwise

 *

 * @see button2_wait, button2_click

 **/

int button2_read( void ) {

  int pin_val;

  DDRG &= ~_BV(PING1);

  PORTG|= _BV(PING1);

  pin_val = PING;

  return !((pin_val & _BV(PING1)));

}

/**

 * Delays execution until button2 is pressed.

 *

 * @see button2_read, button2_click

 **/

void button2_wait( void ) {

  while(!button2_read()){

    delay_ms(15);

  }

}

/**

 * If button2 is pressed, waits until it is released before returning.

 * Otherwise, the function returns immediately.

 *

 * @return 1 if button2 has been pressed, 0 otherwise

 *

 * @see button2_read, button2_wait

 **/

int button2_click() {

  if(button2_read()) {

    while(button2_read());

    return 1;

  } else {

    return 0;

  }

}

/** @} **/ //end defgroup

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file bom.c

 * @brief Implementation for using the BOM

 *

 * Contains functions for using the Bearing and Orientation Module (BOM)

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include "bom.h"

#include "dio.h"

#include "serial.h"

#include "analog.h"

//On the original BOM1.0, the emmitter angular order does not match the analog mux order

//so you need to iterate through the mux index in the following order if you want to get

//the detector readings in order:

static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};

/* *****************************

 * BOM Vector Component Tables *

 **************************** **/

/*

 * The x component of each BOM detector (indexed from 0 to 15)

 * was calculated using the following formula:

 *

 *		x_comp[i] = fix(25 * cos ( 2 * pi / 16 * i) )

 *

 * where "fix" rounds towards 0. If the BOM detectors were superimposed

 * onto a 2 dimensional Cartesian space, this effectively calculates the

 * x component of the emitter vector where emitter 0 corresponds to an

 * angle of 0 radians, 4 -> pi/2, 8 -> pi, ect.

 */

static const signed int x_comp[16] = {

	25,

	23,

	17,

	9,

	0,

	-9,

	-17,

	-23,

	-25,

	-23,

	-17,

	-9,

	0,

	9,

	17,

	23

};

/*

 * The y component of each BOM detector (indexed from 0 to 15)

 * was calculated using the following formula:

 *

 *		y_comp[i] = fix(25 * sin ( 2 * pi / 16 * i) )

 *

 * where "fix" rounds towards 0. If the BOM detectors were superimposed

 * onto a 2 dimensional Cartesian space, this effectively calculates the

 * x component of the emitter vector where emitter 0 corresponds to an

 * angle of 0 radians, 4 -> pi/2, 8 -> pi, ect.

 */

static signed int y_comp[16] = {

	0,

	9,

	17,

	23,

	25,

	23,

	17,

	9,

	0,

	-9,

	-17,

	-23,

	-25,

	-23,

	-17,

	-9

};

// internal function prototypes

static void bom_select(char which);

/*

 Bk R Y (Analog)

---------

 Green

 Blue

 White

---------

 Blue

 White

*/

/*

the analog pin definitions from dio.h DO NOT work here,

so we must use PF0 from avrgcc (as opposed to _PIN_F0).

BUT the dio pin definitions from dio.h must be used (no PE...).

also, _PIN_E2 is initialized to high for some reason,

which turns the BOM on when the robot is turned on.

WORK-AROUND: call digital_output(_PIN_E2,0) at some point.

*/

#define MONKI PF0         //analog (yellow)

//------------------------//

#define MONKL _PIN_E2     //green

#define MONK1 _PIN_E3     //blue

#define MONK0 _PIN_E4     //white

//------------------------//

#define MONK3 _PIN_E6     //blue

#define MONK2 _PIN_E7     //white

#define BOM_VALUE_THRESHOLD 150 //200

#define NUM_BOM_LEDS 16

/*

  *The following pin definitions are for the BOM v1.5

  */

#define BOM_MODE	_PIN_E2	//dio0

#define BOM_STROBE	_PIN_E3	//dio1

#define BOM_DATA	_PIN_A0 //servo0

#define BOM_CLOCK	_PIN_A1	//servo1

#define BOM_S0		_PIN_E5	//dio3

#define BOM_S1		_PIN_E4	//dio2

#define BOM_S2		_PIN_E7	//dio4

#define BOM_S3		_PIN_E6	//dio5

#define BOM_OUT		PF0		//analog(yellow)

/**

 * @defgroup bom BOM (Bearing and Orientation Module)

 * @brief Functions for dealing with the BOM.

 *

 * The Bearing and Orientation Module / Barrel of Monkeys / BOM

 * is a custom sensor designed and built by the Colony Project.

 * It consists of a ring of 16 IR emitters and 16 IR detectors.

 * The BOM is most often use to determine the direction of other

 * robots. This module contains functions for controlling the BOM.

 *

 * Include bom.h to access these functions.

 *

 * @{

 **/

static unsigned int bom_val[NUM_BOM_LEDS];

static volatile char bom_type = BOM10;

static int select_pins[4];

static int analog_pin;

/**

 * Initializes the BOM.

 * Call bom_init before reading bom values or turning bom leds.

 *

 * @bugs INCOMPLETE - No utilization of BOM1.5 RSSI capability. Probably leave this out

 * until Cornell and Pras return

 * 

 * @see bom_refresh, bom_leds_on, bom_leds_off

 **/

void bom_init(char type) {

    bom_type = type;

    switch(bom_type) {

    case BOM10:

		select_pins[0] = MONK0; 

		select_pins[1] = MONK1;

		select_pins[2] = MONK2;

		select_pins[3] = MONK3;

		analog_pin = MONKI;

        break;

    case BOM15:

        //Sets BOM1.5 to normal [BOM] mode

        digital_output(BOM_MODE, 0);

		select_pins[0] = BOM_S0; 

		select_pins[1] = BOM_S1;

		select_pins[2] = BOM_S2;

		select_pins[3] = BOM_S3;

		bom_set_leds(BOM_ALL);

		analog_pin = BOM_OUT;

        break;

    case RBOM:

        break;

    //default:

    }

}

/**

 * Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits

 *    and updates the corresponding bom value with an analog_get8 reading.  analog_init and bom_init

 *    must be called for this to work. Must call this before reading BOM values!

 *

 *

 * @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values.

 *    Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated.

 *

 * @see bom_get

 **/

void bom_refresh(int bit_field) {

    int i;

	int loop_was_running = 0;

	//Check analog loop status

    if(analog_loop_status() == ADC_LOOP_RUNNING) {

		loop_was_running = 1;

		analog_stop_loop();

	}

	//Read BOM values

    for(i = 0; i < NUM_BOM_LEDS; i++) {

        if(bit_field & 0x1) {

            bom_select(i);

            bom_val[i] = analog_get8(analog_pin);

        }

        bit_field = bit_field >> 1;

    }

	//Restore analog loop status

	if(loop_was_running)

		analog_start_loop();

}

/**

 * Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values.

 *

 * @pre must call bom refresh first

 *

 * @param which which bom value to return

 *

 * @return the bom value

 *

 * see bom_refresh

 **/

int bom_get(int which) {

    return bom_val[which];

}

/** 

 * Compares all the values in bom_val[] and returns the index to the lowest (max) value element.

 *

 * @pre must call bom refresh

 * @return index to the lowest (max) bom value element.  -1 if no value is lower than

 *    BOM_VALUE_THRESHOLD

 **/

int bom_get_max(void) {

    int i, lowest_val, lowest_i;

    lowest_i = -1;

    lowest_val = 255;

    for(i = 0; i < NUM_BOM_LEDS; i++) {

        if(bom_val[i] < lowest_val) {

            lowest_val = bom_val[i];

            lowest_i = i;

        }

    }

    if(lowest_val < BOM_VALUE_THRESHOLD)

        return lowest_i;

    else

        return -1;

}

/** 

 * Compute the net resultant BOM IR vector by scaling each IR unit vector by its intensity

 *		and summing over all IR LEDs.

 *

 * @param v  Pointer to Vector struct to be filled by this function with an x and y net vector

 *		component.

 *

 * @param usrBOMvals  Pointer to array which holds 16 raw BOM readings which can be used if user

 *		has already collected BOM information instead of collecting a new data set from the BOM.

 *

 * @return  Exit status - Zero for success; negative on error.

 **/

int bom_get_vector(Vector* v, int* usrBOMvals) {

	/* Store current BOM readings and use them as a weighting factor */

	int intensity[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

	/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness")

	 * components. Calculated by multiplying the intensity by the x and y

	 * component respectively (x and y components are stored in the tables

	 * above). */

	int weighted_x_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

	int weighted_y_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

	/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness")

	 * components for the entire robot. */

	long net_x_comp = 0;

	long net_y_comp = 0;

	int i = 0;

	/* BOM intensity is actually measured as more intense = closer to 0 */

	if (usrBOMvals) {

		/* Use BOM values collected by user */

		for (i = 0; i < 16; i++) {

			intensity[i] = 255 - usrBOMvals[i];

		}

	} else {

		/* Collect new set of BOM data */

		bom_refresh(BOM_ALL);

		for (i = 0; i < 16; i++) {

			intensity[i] = 255 - bom_get(i);

		}

	}

	/* Calculate weighted vector components and accumulate vector sum */

	for (i = 0; i < 16; i++) {

		weighted_x_comp[i] = intensity[i] * x_comp[i];

		weighted_y_comp[i] = intensity[i] * y_comp[i];

		net_x_comp += weighted_x_comp[i];

		net_y_comp += weighted_y_comp[i];

	}

	/* Fill the Vector struct */

	v->x = net_x_comp;

	v->y = net_y_comp;

	return 0;

}

/** 

 * Compute the normalized net resultant BOM IR vector by scaling each IR unit vector by its

 *		intensity and summing over all IR LEDs.

 *

 * @param v  Pointer to Vector struct to be filled by this function with an x and y net vector

 *		component.

 *

 * @param usrBOMvals  Pointer to array which holds 16 raw BOM readings which can be used if user

 *		has already collected BOM information instead of collecting a new data set from the BOM.

 *

 * @return  Exit status - Zero for success; negative on error.

 **/

int bom_get_norm_vector(Vector* v, int* usrBOMvals) {

	/* Store current BOM readings and use them as a weighting factor */

	int intensity[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

	/* Arrays for storing the weighted x ("Rightness") and y ("Forwardness")

	 * components. Calculated by multiplying the intensity by the x and y

	 * component respectively (x and y components are stored in the tables

	 * above). */

	int weighted_x_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

	int weighted_y_comp[16] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};

	/* Accumulators to sum up the net x ("Rightness") and y ("Forwardness")

	 * components for the entire robot. */

	long net_x_comp = 0;

	long net_y_comp = 0;

	/* Variables used to normalize the net component values */

	int total_intensity = 0;

	int normalized_net_x_comp = 0;

	int normalized_net_y_comp = 0;

	int i = 0;

	/* BOM intensity is actually measured as more intense = closer to 0 */

	if (usrBOMvals) {

		/* Use BOM values collected by user */

		for (i = 0; i < 16; i++) {

			intensity[i] = 255 - usrBOMvals[i];

		}

	} else {

		/* Collect new set of BOM data */

		bom_refresh(BOM_ALL);

		for (i = 0; i < 16; i++) {

			intensity[i] = 255 - bom_get(i);

		}

	}

	/* Calculate weighted vector components and accumulate vector sum */

	for (i = 0; i < 16; i++) {

		weighted_x_comp[i] = intensity[i] * x_comp[i];

		weighted_y_comp[i] = intensity[i] * y_comp[i];

		net_x_comp += weighted_x_comp[i];

		net_y_comp += weighted_y_comp[i];

		total_intensity += intensity[i];

	}

	/* Normalize the resultant vector components by the total intensity */

	if (total_intensity > 0) {

		normalized_net_x_comp = net_x_comp / total_intensity;

		normalized_net_y_comp = net_y_comp / total_intensity;

	}

	/* Fill the Vector struct */

	v->x = normalized_net_x_comp;

	v->y = normalized_net_y_comp;

	return 0;

}

/** 

 * Print a histogram which shows the current BOM intensity values for each of the 16 BOM IR

 *		sensors. The function will attempt to send the histogram data over USB.

 *

 * @param curBOMvals  Pointer to an array of the current BOM values (the array must have

 *		length 16). Use this to print values you have already collected. Otherwise pass in NULL

 *		and bom_refresh() will be called and the current BOM intensity values will be collected.

 * @return  Exit status - Zero for success; negative on error.

 **/

int bom_print_usb(int* usrBOMvals) {

	int i, j, max = -1;

	int curVals[16];

	int* prtValPtr;

	if (usrBOMvals) {

		/* Use BOM values collected by user */

		prtValPtr = usrBOMvals;

		/* Find max BOM value from users values */

		for (i = 0; i < 16; i++) {

			if (max < prtValPtr[i])

				max = prtValPtr[i];

		}

	} else {

		/* Refresh and make sure the table is updated */

		bom_refresh(BOM_ALL);

		/* Record values into an array */

		for (i = 0; i < 16; i++) {

			curVals[i] = bom_get(i);

			if (max < curVals[i])

				max = curVals[i];

		}

		/* Use the current set of collected values */

		prtValPtr = curVals;

	}

	/* Display results */

	for (i = 0; i < 16; i++) {

		usb_puti(i);

		usb_puts(": ");

		usb_puti(prtValPtr[i]);

		usb_putc('\t');

		for (j = 0; j < (int)((max - prtValPtr[i]) / 5); j++) {

			usb_putc('#');

		}

		usb_puts("\r\n");

	}

	usb_puts("\r\n");

	return 0;

}

/** 

 * Computes the weighted average of all the bom readings to estimate the position (and distance) of another robot.

 *

 * @pre must call bom refresh

 * @param dist  pointer to int in which to return the estimated distance to the other robot

 * @return estimated position of the max bom value element as a fixed point value analogous to 10 times the

 *        index of the max bom value.  -1 if no value is lower than BOM_VALUE_THRESHOLD.

 **/

int bom_get_max10(int *dist) {

    int i, max;

    long long mean = 0, sum = 0;

    max = bom_get_max();

    if (max < 0)

    {

        if (dist)

        {

            *dist = -1;

        }

        return -1;

    }

    /* Record values into an array */

    for (i = 0; i < NUM_BOM_LEDS; i++) {

        int idx = ((i + (NUM_BOM_LEDS/2 - max) + NUM_BOM_LEDS) % NUM_BOM_LEDS) - (NUM_BOM_LEDS/2 - max);

        int val = 255 - bom_val[i];

        mean += idx * val;

        sum += val;

    }

    mean = (mean * 10) / sum;

    mean = (mean + NUM_BOM_LEDS*10) % (NUM_BOM_LEDS*10);

    if (dist)

    {

        *dist = 50 - sum/48;

    }

    return mean;

}

/**

 * Iterates through each bit in the bit_field. If the bit is set, the corresponding emitter will

 *    be enabled to turn on when bom_on() is called.

 *    bom_init must be called for this to work. Does nothing if a BOM1.0 is installed

 *

 * @param bit_field specifies which leds should be turned on when bom_on is called.  Use BOM_ALL to turn on all bom leds.

 *    Ex. if 0x0005 is passed, leds 0 and 2 will be turned on.

 **/

void bom_set_leds(int bit_field) {

    int i;

	unsigned int mask = 1<<(NUM_BOM_LEDS-1);

	switch(bom_type) {

    case BOM10:

        //TODO: put an assert here to alert the user that this should not be called

        break;

    case BOM15:

	    for(i=NUM_BOM_LEDS; i>0; i--)

	    {

		    //set the current bit, sending MSB first

		    digital_output(BOM_DATA, bit_field&mask);

		    //then pulse the clock

		    digital_output(BOM_CLOCK, 1);

		    digital_output(BOM_CLOCK, 0);

			mask = mask>>1;

	    }

        break;

    case RBOM:

        //add rbom code here

        break;

    }

}

/**

 * (DEPRECATED) Returns the direction of the maximum BOM reading,

 * as an integer in the range 0-15. 0 indicates to the

 * robot's right, while the rest of the sensors are

 * numbered counterclockwise. This is useful for determining

 * the direction of a robot flashing its BOM, of only one

 * robot is currently doing so. analog_init must be called

 * before this function can be used.

 *

 * @return the direction of the maximum BOM reading

 *

 * @see analog_init

 **/

int get_max_bom(void) {

    bom_refresh(BOM_ALL);

    return bom_get_max();

}

/**

 * Flashes the BOM.  If using a BOM1.5, only the emitters that have been enabled using

 * bom_set_leds will turn on.

 * 

 * @see bom_off, bom_set_leds

 **/

void bom_on(void)

{

  switch(bom_type) {

  case BOM10:

	digital_output(MONKL, 1);

	break;

  case BOM15:

	digital_output(BOM_STROBE, 1);

	break;

  case RBOM:

	break;

  }

}

/**

 * Turns off all bom leds.

 * 

 * @see bom_on

 **/

void bom_off(void)

{

  switch(bom_type) {

  case BOM10:

	digital_output(MONKL, 0);

	break;

  case BOM15:

	digital_output(BOM_STROBE, 0);

	break;

  case RBOM:

	break;

  }

}

/** @} **/ //end group

//select a detector to read

static void bom_select(char which) {

	if(bom_type == BOM10)

	  which = lookup[(int)which];

    if (which&8)

      digital_output(select_pins[3], 1);

    else

      digital_output(select_pins[3], 0);

    if (which&4)

      digital_output(select_pins[2], 1);

    else

      digital_output(select_pins[2], 0);

    if (which&2)

      digital_output(select_pins[1], 1);

    else

      digital_output(select_pins[1], 0);

    if (which&1)

      digital_output(select_pins[0], 1);

    else

      digital_output(select_pins[0], 0);

}

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file serial.c

 * @brief Serial Input and Output

 *

 * Implementation of functions for serial input and output.

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <avr/io.h>

#include "serial.h"

#ifdef USE_STDIO

#include <stdio.h>

/**

 * For use with fprintf() and related stdio functions

 **/

FILE *usb_fd;

/**

 * For use with fprintf() and related stdio functions

 **/

FILE *xbee_fd;

#endif

/**

 * Initializes communication over the USB serial port.

 * This must be called before any other usb function

 * may be used.

 **/

void usb_init() {

  //Set baud rate

  // - 115200 (both wired and wireless) is UBRR=8, U2X=1

  // - 9600 is U2X =1, UBRR = 107.

#if (USB_BAUD == 115200)

  UBRR0H = 0x00;

  UBRR0L = 8;

  UCSR0A |= _BV(U2X0);

#elif (USB_BAUD == 9600)

  UBRR0H = 0x00;

  UBRR0L = 103;

  UCSR0A |= _BV(U2X0);

#else //Baud rate is defined in the header file, we should not get here

  return;

#endif

  /*Enable receiver and transmitter */

  UCSR0B |= (1<<RXEN0)|(1<<TXEN0);

  /* Set frame format: 8data, 1stop bit, asynchronous normal mode */

  UCSR0C |= (1<<UCSZ00) | (1<<UCSZ01);

  // if we have enabled the stdio stuff, then we init it here

#ifdef USE_STDIO

  /* Open the stdio stream corresponding to this port */

  usb_fd = fdevopen(usb_putc, usb_getc);

#endif

}

/**

 * Initializes communication over the XBee.

 * This must be called before any other xbee function

 * may be used.

 **/

void xbee_init() {

  //Set baud rate

  // - 115200 (both wired and wireless) is UBRR=8, U2X=1

  // - 9600 is U2X =1, UBRR = 107.

#if (XBEE_BAUD == 115200)

  UBRR1H = 0x00;

  UBRR1L = 8;

  UCSR1A |= _BV(U2X1);

#elif (XBEE_BAUD == 9600)

  UBRR1H = 0x00;

  UBRR1L = 103;

  UCSR1A |= _BV(U2X1);

#else //Baud rate is defined in the header file, we should not get here

  return;

#endif

  //Enable receiver and transmitter

  UCSR1B |= (1<<RXEN1)|(1<<TXEN1);

  // Set frame format: 8data, 1stop bit, asynchronous normal mode

  UCSR1C |= (1<<UCSZ10) | (1<<UCSZ11);

  // if we have enabled the stdio stuff, then we init it here

#ifdef USE_STDIO

  /* Open the stdio stream corresponding to this port */

  xbee_fd = fdevopen(xbee_putc, xbee_getc);

#endif

}

/**

 * Sends a character over USB.

 *

 * @param c the character to send

 * @return 0 for success, nonzero for failure

 **/

int usb_putc(char c) {

  // Wait until buffer is clear for sending

  loop_until_bit_is_set(UCSR0A, UDRE0);

  // Load buffer with your character

  UDR0 = c;

  return 0;

}

/**

 * Sends a character to the XBee.

 *

 * @param c the character to send

 * @return 0 for success, nonzero for failure

 **/

int xbee_putc(char c) {

  // Wait until buffer is clear for sending

  loop_until_bit_is_set(UCSR1A, UDRE1);

  // Load buffer with your character

  UDR1 = c;

  return 0;

}

/**

 * Sends a sequence of characters over USB.

 *

 * @param s the string to send

 * @return 0 for success, nonzero for failure

 **/

int usb_puts(char *s) {

  char *t = s;

  while (*t != 0) {

    usb_putc(*t);

    t++;

  }

  return 0;

}

/**

 * Sends a sequence of characters from program space over USB.

 *

 * @param s the string to send

 **/

void usb_puts_P (PGM_P s) {

    char buf;

    while (memcpy_P (&buf, s, sizeof (char)), buf!=0) {

        usb_putc (buf);

        s++;

    }

}

/**

 * Returns the first character in the buffer received from USB.

 * This function blocks execution until a character has been received.

 * xbee_init must be called before this function may be used.

 * 

 * @return the first character in the usb buffer

 *

 * @see usb_init, usb_getc_nb

 **/

int usb_getc(void) {

  // Wait for the receive buffer to be filled

  loop_until_bit_is_set(UCSR0A, RXC0);

  // Read the receive buffer

  return UDR0;

}

/**

 * Returns the first character in the buffer received from USB.

 * This function blocks execution until a character has been

 * received. xbee_init must be called before this function

 * may be used.

 * 

 * @return the first character in the xbee buffer

 * 

 * @see xbee_init, xbee_getc_nb

 **/

int xbee_getc(void) {

  // Wait for the receive buffer to be filled

  loop_until_bit_is_set(UCSR1A, RXC1);

  // Read the receive buffer

  return UDR1;

}

/**

 * Non blocking version of usb_getc. If a character is present in the buffer,

 * it is returned, otherwise -1 is returned immediately. usb_init must be

 * called before this function can be used.

 *

 * @param c the received character. This will be set if a character has

 * been received.

 * 

 * @return -1 if no character is available, 0 otherwise

 * 

 * @see usb_init, usb_getc

 **/

int usb_getc_nb(char *c) {

  // check if the receive buffer is filled

  if (UCSR0A & _BV(RXC0)) {

    // Read the receive buffer

    (*c) = UDR0;

    return 0;

  } else {

    // Return empty

    return -1;

  }

}

/**

 * Non blocking version of xbee_getc. If a character is present in the buffer,

 * it is returned, otherwise -1 is returned immediately. xbee_init

 * must be called before this function can be used.

 *

 * @param c the received character. This will be set if a character has

 * been received.

 * 

 * @return -1 if no character is available, 0 otherwise

 *

 * @see xbee_init, xbee_getc

 **/

int xbee_getc_nb(char *c) {

  // check if the receive buffer is filled

  if (UCSR1A & _BV(RXC1)) {

    // Read the receive buffer

    (*c) = UDR1;

    return 0;

  } else {

    // Return empty

    return -1;

  }

}

/*

  prints an int to serial

  code adapted from Chris Efstathiou's code (hendrix@otenet.gr)

  uses usb_putc

*/

/**

 * Prints an integer, converted to ASCII, to usb. usb_init must be called

 * before this function can be used.

 *

 * @param value the integer to print

 * 

 * @return 0 if successful, nonzero otherwise

 *

 * @see usb_init, usb_putc

 **/

int usb_puti(int value ) {

  unsigned char usb_data[6]={'0','0','0','0','0','0' }, position=sizeof(usb_data), radix=10; 

  /* convert int to ascii  */ 

  if(value<0) { 

    usb_putc('-'); 

    value=-value; 

  }    

  do { 

    position--; 

    *(usb_data+position)=(value%radix)+'0'; 

    value/=radix;