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 /**
  * 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] = {
 ,
 ,
 ,
 ,
 ,
         -9,
         -17,
         -23,
         -25,
         -23,
         -17,
         -9,
 ,
 ,
 ,
 };
 /*
  * 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] = {
 ,
 ,
 ,
 ,
 ,
 ,
 ,
 ,
 ,
         -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];      deleted because we got rid of the analog loop
         bom_select(which);
     return analog_get8(analog_pin);
+}
 /**
  * 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, i_val;
     lowest_i = -1;
     lowest_val = 255;
     for(i = 0; i < NUM_BOM_LEDS; i++) {
                 i_val = bom_get(i);
         if(i_val < lowest_val) {
             lowest_val = i_val;
             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. Can be used if user
  *                has already collected BOM information. Otherwise, leave as NULL and a new set of data
  *                will be collected and used.
+ *
  * @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. Can be used if user
  *                has already collected BOM information. Otherwise, leave as NULL and a new set of data
  *                will be collected and used.
+ *
  * @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_get(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);
+}