root / scout_avr / src / main.cpp @ 2853d46b
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| 1 | 6e7f0a98 | Tom Mullins | #if 1 /////////////////////////////////////////////// |
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| 2 | 807483bf | Tom Mullins | |
| 3 | 49090532 | Tom Mullins | #include "ros.h" |
| 4 | 6e7f0a98 | Tom Mullins | #include "bom.h" |
| 5 | 47e26dee | Tom Mullins | #include "range.h" |
| 6 | 6c9146d5 | Tom Mullins | #include "stepper.h" |
| 7 | #include <std_msgs/Int16.h> // TODO remove |
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| 8 | #include <bom/bom.h> |
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| 9 | #include <sonar/sonar_distance.h> |
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| 10 | #include <sonar/sonar_toggle.h> |
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| 11 | #include <sonar/sonar_set_scan.h> |
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| 12 | 47e26dee | Tom Mullins | #include <util/delay.h> |
| 13 | 88fb3a79 | Tom Mullins | |
| 14 | 6c9146d5 | Tom Mullins | /* Period of main loop in ms */
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| 15 | 2853d46b | Tom Mullins | #define MAINLOOP_PERIOD 100//50 |
| 16 | 6c9146d5 | Tom Mullins | |
| 17 | char range_enabled = 0; |
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| 18 | 49090532 | Tom Mullins | |
| 19 | 812788aa | Tom Mullins | void debug(const char *str) |
| 20 | {
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| 21 | 31f4a032 | Tom Mullins | } |
| 22 | |||
| 23 | cf115e3d | Tom Mullins | void callback(const std_msgs::Int16& msg) |
| 24 | 49090532 | Tom Mullins | {
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| 25 | } |
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| 26 | |||
| 27 | 6c9146d5 | Tom Mullins | /* dammit, Priya, this capitalization just looks ridiculous */
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| 28 | void range_toggle_cb(const sonar::sonar_toggleRequest& req, |
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| 29 | sonar::sonar_toggleResponse& resp) |
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| 30 | {
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| 31 | range_enabled = req.set_on; |
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| 32 | resp.ack = true;
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| 33 | } |
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| 34 | |||
| 35 | void range_set_scan_cb(const sonar::sonar_set_scanRequest& req, |
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| 36 | sonar::sonar_set_scanResponse& resp) |
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| 37 | {
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| 38 | step_sweep_bounds(req.stop_l, req.stop_r); |
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| 39 | resp.ack = true;
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| 40 | } |
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| 41 | |||
| 42 | 49090532 | Tom Mullins | int main()
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| 43 | 88fb3a79 | Tom Mullins | {
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| 44 | 6c9146d5 | Tom Mullins | unsigned long now, next; |
| 45 | unsigned int ranges[2]; |
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| 46 | 6e7f0a98 | Tom Mullins | char i, id;
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| 47 | 6c9146d5 | Tom Mullins | |
| 48 | 88fb3a79 | Tom Mullins | ros::NodeHandle nh; |
| 49 | 6c9146d5 | Tom Mullins | nh.initNode(); |
| 50 | 49090532 | Tom Mullins | |
| 51 | 6c9146d5 | Tom Mullins | /* To be removed later; just an example of a subscirber */
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| 52 | ros::Subscriber<std_msgs::Int16> test_in("test_in", callback);
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| 53 | nh.subscribe(test_in); |
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| 54 | 88fb3a79 | Tom Mullins | |
| 55 | 2853d46b | Tom Mullins | /* Stepper */
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| 56 | // TODO ROS messages to set bounds
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| 57 | step_init(); |
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| 58 | step_dir(1);
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| 59 | step_set_size(STEP_WHOLE); |
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| 60 | step_sweep_bounds(-26, 26); |
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| 61 | |||
| 62 | 6c9146d5 | Tom Mullins | /* Range */
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| 63 | 47e26dee | Tom Mullins | range_init(); |
| 64 | 6c9146d5 | Tom Mullins | sonar::sonar_distance range_msg; |
| 65 | 86b48573 | Tom Mullins | ros::Publisher range_pub("sonar_distance", &range_msg);
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| 66 | 6c9146d5 | Tom Mullins | ros::ServiceServer |
| 67 | <sonar::sonar_toggleRequest, sonar::sonar_toggleResponse> |
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| 68 | range_toggle("sonar_toggle", range_toggle_cb);
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| 69 | ros::ServiceServer |
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| 70 | <sonar::sonar_set_scanRequest, sonar::sonar_set_scanResponse> |
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| 71 | range_set_scan("sonar_set_scan", range_set_scan_cb);
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| 72 | 86b48573 | Tom Mullins | nh.advertise(range_pub); |
| 73 | 6c9146d5 | Tom Mullins | |
| 74 | /* BOM */
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| 75 | 47e26dee | Tom Mullins | bom_init(); |
| 76 | 6c9146d5 | Tom Mullins | bom::bom bom_msg; |
| 77 | ros::Publisher bom_pub("bom", &bom_msg);
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| 78 | 6e7f0a98 | Tom Mullins | nh.advertise(bom_pub); |
| 79 | 88fb3a79 | Tom Mullins | |
| 80 | 6e7f0a98 | Tom Mullins | id = 0;
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| 81 | 6c9146d5 | Tom Mullins | next = 0;
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| 82 | 88fb3a79 | Tom Mullins | while (1) |
| 83 | {
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| 84 | 6c9146d5 | Tom Mullins | nh.spinOnce(); |
| 85 | |||
| 86 | /* Skip loop if the loop period hasn't passed yet */
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| 87 | /* TODO if we need more exact timing, we can enter a tight loop when now
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| 88 | * gets close to next, and avoid the uncertainty of nh.spinOnce() */
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| 89 | now = nh.getHardware()->time(); |
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| 90 | if (now < next) {
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| 91 | continue;
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| 92 | } |
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| 93 | next = now + MAINLOOP_PERIOD; |
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| 94 | |||
| 95 | /* Temporary, for BOM testing */
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| 96 | 6e7f0a98 | Tom Mullins | id++; |
| 97 | if (id == 0x40) { |
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| 98 | id = 0;
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| 99 | } |
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| 100 | set_robot_id(id); |
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| 101 | 47e26dee | Tom Mullins | bom_send(id & 1);
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| 102 | 6c9146d5 | Tom Mullins | |
| 103 | /* BOM */
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| 104 | 6e7f0a98 | Tom Mullins | for (i = 0; i < 4; i++) { |
| 105 | int msg = bom_get(i);
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| 106 | if (msg != BOM_NO_DATA) {
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| 107 | bom_msg.sender = bom_msg_get_robot_id(msg); |
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| 108 | bom_msg.send_dir = bom_msg_get_dir(msg); |
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| 109 | bom_msg.recv_dir = i; |
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| 110 | bom_pub.publish(&bom_msg); |
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| 111 | } |
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| 112 | } |
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| 113 | 47e26dee | Tom Mullins | |
| 114 | 6c9146d5 | Tom Mullins | /* Stepper / range sensor */
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| 115 | 2853d46b | Tom Mullins | if (range_enabled) {
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| 116 | step_sweep(); |
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| 117 | range_measure(ranges); |
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| 118 | range_msg.header.stamp = nh.now(); |
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| 119 | range_msg.header.seq++; |
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| 120 | range_msg.pos = 0; // TODO fill this |
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| 121 | range_msg.distance0 = ranges[0];
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| 122 | range_msg.distance1 = ranges[1];
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| 123 | range_pub.publish(&range_msg); |
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| 124 | } |
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| 125 | 6c9146d5 | Tom Mullins | |
| 126 | 88fb3a79 | Tom Mullins | } |
| 127 | |||
| 128 | return 0; |
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| 129 | 49090532 | Tom Mullins | } |
| 130 | 88fb3a79 | Tom Mullins | |
| 131 | 807483bf | Tom Mullins | #else /////////////////////////////////////////////// |
| 132 | |||
| 133 | extern "C" |
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| 134 | 88fb3a79 | Tom Mullins | {
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| 135 | #include <stdlib.h> |
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| 136 | #include <string.h> |
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| 137 | fd73d758 | Tom Mullins | #include <avr/io.h> |
| 138 | #include <util/delay.h> |
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| 139 | 88fb3a79 | Tom Mullins | } |
| 140 | |||
| 141 | 49090532 | Tom Mullins | #include "Atmega128rfa1.h" |
| 142 | 1c3c96ce | Tom Mullins | #include "range.h" |
| 143 | f115416e | Tom Mullins | #include "bom.h" |
| 144 | 6c9146d5 | Tom Mullins | #include "stepper.h" |
| 145 | 49090532 | Tom Mullins | |
| 146 | 31f4a032 | Tom Mullins | Atmega128rfa1 avr; |
| 147 | |||
| 148 | 812788aa | Tom Mullins | void debug(const char *str) |
| 149 | {
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| 150 | 31f4a032 | Tom Mullins | avr.puts(str); |
| 151 | } |
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| 152 | |||
| 153 | 88fb3a79 | Tom Mullins | int main()
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| 154 | {
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| 155 | 1c3c96ce | Tom Mullins | char buf[20]; |
| 156 | 86b48573 | Tom Mullins | //int i;
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| 157 | //char id = 0;
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| 158 | 2853d46b | Tom Mullins | /*unsigned long now, next = 0;
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| 159 | unsigned int ranges[2];*/
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| 160 | 88fb3a79 | Tom Mullins | avr.init(); |
| 161 | 1c3c96ce | Tom Mullins | range_init(); |
| 162 | f115416e | Tom Mullins | bom_init(); |
| 163 | 2853d46b | Tom Mullins | func step_sweep_cb = step_init(10);
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| 164 | 6c9146d5 | Tom Mullins | step_sweep_bounds(-26, 26); |
| 165 | step_dir(1);
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| 166 | 2853d46b | Tom Mullins | step_sweep_speed(50);
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| 167 | PORTF |= _BV(PF4); |
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| 168 | _delay_ms(500);
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| 169 | PORTF = (PORTF & ~_BV(PF4)) | _BV(PF5); |
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| 170 | _delay_ms(500);
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| 171 | PORTF &= ~_BV(PF5); |
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| 172 | 88fb3a79 | Tom Mullins | while (1) |
| 173 | {
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| 174 | 2853d46b | Tom Mullins | step_sweep_cb(); |
| 175 | _delay_ms(10);
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| 176 | /*now = avr.time();
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| 177 | 49090532 | Tom Mullins | if (now > next) {
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| 178 | 2853d46b | Tom Mullins | next = now + 500;*/
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| 179 | fd73d758 | Tom Mullins | /*ultoa(now, buf, 10);
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| 180 | 812788aa | Tom Mullins | avr.puts(buf);
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| 181 | fd73d758 | Tom Mullins | avr.puts("\r\n");*/
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| 182 | 6c9146d5 | Tom Mullins | /*id++;
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| 183 | 31f4a032 | Tom Mullins | if (id == 0x40) {
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| 184 | id = 0;
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| 185 | }
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| 186 | 6c9146d5 | Tom Mullins | set_robot_id(id);*/
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| 187 | 2853d46b | Tom Mullins | /*range_measure(ranges);
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| 188 | 86b48573 | Tom Mullins | utoa(ranges[0], buf, 10);
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| 189 | f115416e | Tom Mullins | avr.puts("Range: ");
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| 190 | avr.puts(buf);
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| 191 | avr.puts(", ");
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| 192 | 86b48573 | Tom Mullins | utoa(ranges[1], buf, 10);
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| 193 | avr.puts(buf);
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| 194 | 2853d46b | Tom Mullins | avr.puts("\r\n");*/
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| 195 | 6c9146d5 | Tom Mullins | /*for (i = 0; i < 4; i++) {
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| 196 | f115416e | Tom Mullins | bom_send(i);
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| 197 | int msg = bom_get(i);
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| 198 | if (msg != BOM_NO_DATA) {
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| 199 | avr.puts("BOM ");
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| 200 | itoa(i, buf, 10);
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| 201 | avr.puts(buf);
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| 202 | avr.puts(": ");
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| 203 | 31f4a032 | Tom Mullins | itoa(bom_msg_get_robot_id(msg), buf, 10);
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| 204 | avr.puts(buf);
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| 205 | avr.puts(" (");
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| 206 | itoa(bom_msg_get_dir(msg), buf, 10);
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| 207 | f115416e | Tom Mullins | avr.puts(buf);
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| 208 | 31f4a032 | Tom Mullins | avr.puts(")\r\n");
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| 209 | f115416e | Tom Mullins | }
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| 210 | 6c9146d5 | Tom Mullins | }*/
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| 211 | 2853d46b | Tom Mullins | //}
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| 212 | 88fb3a79 | Tom Mullins | } |
| 213 | return 0; |
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| 214 | cf115e3d | Tom Mullins | } |
| 215 | 807483bf | Tom Mullins | |
| 216 | #endif ////////////////////////////////////////////// |