/ - Diff - Colony - Robotics Club

Revision 863

Added by Austin Buchan over 15 years ago

BOM1.5 Driver complete, test case is in template. Next step is to merge with trunk, which could have issues since the trunk functions are different now.

     #include <dragonfly_lib.h>
     int main(void) {
     	dragonfly_init(ALL_ON);
     	dragonfly_init(ALL_ON /*| BOM_15*/);
     	orb_init();
     	orb_enable();
     	bom_on();
     	orb1_set_color(RED);
     	char l0, l1, h0, h1, on;
     	int mask;
     	char temp, on, i=0;
     	int mask = 0;
     	usb_puts("init dones\n");
     	on = 0;
     	while(1)
+    	{
     		l0 = usb_getc()&0xf;
     		l1 = usb_getc()&0xf;
     		h0 = usb_getc()&0xf;
     		h1 = usb_getc()&0xf;
     		on = usb_getc();
     		mask = l0|(l1<<4)|(h0<<8)|(h1<<12);
     		usb_puti(mask);
     		usb_putc('\n');
     		bom_set_leds(mask);
     		if(on == 'o')
     		if(on&1)
     			bom_on();
     		else
     			bom_off();
     		if(button1_click())
     			on ^= 1;
     		if(!usb_getc_nb(&temp))
+    		{
     			if(temp >= '0' && temp <= '9')
     				temp = temp - '0';
     			else
     				temp = temp - 'a' + 10;
     			mask += temp << (4*(3-i));
     			if(++i == 4)
+    			{
     				i = 0;
     				usb_puti(mask);
     				usb_putc('\n');
     				bom_set_leds(mask);
     				mask = 0;
+    			}
+    		}
+    	}
     	return 0;
+    }

     endif
     # Target file name (without extension).
     TARGET = template
     TARGET = main
     # Uncomment this to use the wireless library
     # USE_WIRELESS = 1
     # com1 = serial port. Use lpt1 to connect to parallel port.
     AVRDUDE_PORT = com5
     AVRDUDE_PORT = com4
+    #
+    #
     ###################################

     #include <dragonfly_lib.h>
     #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
-...
     #define MONK3 _PIN_E6     //blue
     #define MONK2 _PIN_E7     //white
     #define BOM_VALUE_THRESHOLD 200
     #define BOM_VALUE_THRESHOLD 200
     #define NUM_BOM_LEDS 16
     /*
-...
     #define BOM_DATA	_PIN_A0 //servo0
     #define BOM_CLOCK	_PIN_A1	//servo1
     #define BOM_S0		_PIN_E6	//dio3
     #define BOM_S1		_PIN_E7	//dio2
     #define BOM_S2		_PIN_E4	//dio1
     #define BOM_S3		_PIN_E5	//dio0
     #define BOM_S0		_PIN_E5	//dio3
     #define BOM_S1		_PIN_E4	//dio2
     #define BOM_S2		_PIN_E6	//dio4
     #define BOM_S3		_PIN_E7	//dio5
     #define BOM_OUT		PF0		//analog(yellow)
     /**
-...
      * Include bom.h to access these functions.
+     *
      * @{
      **/
     static unsigned int bom_val[NUM_BOM_LEDS];
     static char bom_type = BOM;
     static int select_pins[4];
      **/
     static unsigned int bom_val[NUM_BOM_LEDS];
     static volatile char bom_type = BOM;
     static int select_pins[4];
     static int analog_pin;
     /**
      * Initializes the BOM.
      * Call bom_init before reading bom values or turning bom leds.
+     *
     /**
      * 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) {
      * 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 BOM:
     		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
     		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.
+     *
+     *
      * @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;
         analog_stop_loop();
         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;
+        }
         analog_start_loop();
+    }
     /**
      * Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values.
+     *
      * @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.
+     *
      * @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;
     		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.
+     *
+     *
      * @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;
         analog_stop_loop();
         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;
+        }
         analog_start_loop();
+    }
     /**
      * Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values.
+     *
      * @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.
+     *
      * @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;
+    }
     /**
             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;
+    }
     /**
      * 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.
+     *
      * @param bit_field specifies which leds should be turned on.  Use BOM_ALL to turn on all bom leds.
      *    Ex. if 0x0005 is passed, leds 0 and 2 will be turned on.
      **/
      *    be enabled to turn on when bom_on() is called.
      *    bom_init must be called for this to work.
+     *
      * @param bit_field specifies which leds should be turned on.  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 BOM:
             if(bit_field == BOM_ALL)
                 digital_output(MONKL, 1);
     	switch(bom_type) {
         case BOM:
             if(bit_field == BOM_ALL)
                 digital_output(MONKL, 1);
             break;
         case BOM15:
     	    for(i=NUM_BOM_LEDS; i>0; i--)
+    	    {
-...
     		    digital_output(BOM_CLOCK, 1);
     		    digital_output(BOM_CLOCK, 0);
     			mask = mask>>1;
+    	    }
+    	    }
             break;
         case RBOM:
             //add rbom code here
             break;
         case RBOM:
             //add rbom code here
             break;
+        }
+    }
+    }
     /**
-...
     /** @} **/ //end group
     //select a detector to read
+//select a detector to read
     static void bom_select(char which) {
     	if(bom_type == BOM)
     	  which = lookup[(int)which];
         if (which&8)
           digital_output(select_pins[3], 1);
         else
-...
           digital_output(select_pins[0], 1);
         else
           digital_output(select_pins[0], 0);
+    }
+    }

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Revision 863