Revision 1254
Changed rbom->ibom
| trunk/code/projects/diagnostic_station/station/hardware_rbom.h | ||
|---|---|---|
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#ifndef _hardware_rbom_h |
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#define _hardware_rbom_h |
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#include <dragonfly_lib.h> |
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#include "global.h" |
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/* |
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* Inverse BOM sensor macros for (N)orth, |
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* (S)outh, (E)ast, and (W)est positions. |
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*/ |
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// FIXME do it right |
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#define RBOM_SENSOR_LEFT AN3 |
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#define RBOM_SENSOR_RIGHT AN4 |
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#define RBOM_SENSOR_TOP AN5 |
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//#define RBOM_SENSOR_ AN6 |
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void rbom_init (void); |
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void rbom_set (bool on); |
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void rbom_read (uint16_t *top, uint16_t *left, uint16_t *right); |
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void rbom_update (void); |
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void rbom_debug (void); |
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#endif |
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| trunk/code/projects/diagnostic_station/station/hardware_rbom.c | ||
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#include "hardware_rbom.h" |
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static void pDataDump(int startPort, int stopPort, unsigned int delay); |
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static void pUsr(int startPort, int stopPort, unsigned int delay); |
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void rbom_init (void) |
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{
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// FIXME implement |
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} |
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void rbom_set (bool on) |
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{
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if (on) |
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{
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usb_puts ("# Turning RBOM light on" NL);
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// FIXME implement |
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} |
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else |
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{
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usb_puts ("# Turning RBOM light off" NL);
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// FIXME implement |
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} |
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} |
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void rbom_read (uint16_t *top, uint16_t *left, uint16_t *right) |
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{
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usb_puts ("# Reading RBOM" NL);
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// FIXME implement |
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*top=0; |
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*left=0; |
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*right=0; |
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} |
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void rbom_update (void) |
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{
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// FIXME implement |
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} |
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void rbom_debug (void) |
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{
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usb_puts("# Debugging RBOM\n");
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while(1) {
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pUsr(0x0, 0x10, 500); |
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} |
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exit(1); /* Control should never reach here */ |
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} |
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static void pDataDump(int startPort, int stopPort, unsigned int delay) {
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char buf[16]; |
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int i; |
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usb_puts("# port:\t\tval:\n\n");
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for (i = startPort; i <= stopPort; i++) {
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usb_puts(itoa(analog10(i), buf, 10)); |
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usb_puts("\n");
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} |
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delay_ms(delay); |
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} |
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static void pUsr(int startPort, int stopPort, unsigned int delay) {
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char buf[16]; |
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int i; |
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usb_puts("# port:\t\tval:\n\n");
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for (i = startPort; i <= stopPort; i++) {
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usb_puts(itoa(i, buf, 10)); |
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usb_puts("\t\t");
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usb_puts(itoa(analog10(i), buf, 10)); |
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usb_puts("\n");
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} |
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delay_ms(delay); |
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} |
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| trunk/code/projects/diagnostic_station/station/hardware.h | ||
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| 6 | 6 |
#include "global.h" |
| 7 | 7 |
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#include "hardware_dynamos.h" |
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#include "hardware_rbom.h"
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#include "hardware_ibom.h"
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#include "hardware_wall.h" |
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#include "hardware_turntable.h" |
| 12 | 12 |
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| trunk/code/projects/diagnostic_station/station/hardware_ibom.c | ||
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#include "hardware_ibom.h" |
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static void pDataDump(int startPort, int stopPort, unsigned int delay); |
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static void pUsr(int startPort, int stopPort, unsigned int delay); |
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void ibom_init (void) |
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{
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// FIXME implement |
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} |
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void ibom_set (bool on) |
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{
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if (on) |
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{
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usb_puts ("# Turning RBOM light on" NL);
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// FIXME implement |
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} |
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else |
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{
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usb_puts ("# Turning RBOM light off" NL);
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// FIXME implement |
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} |
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} |
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void ibom_read (uint16_t *top, uint16_t *left, uint16_t *right) |
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{
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usb_puts ("# Reading RBOM" NL);
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// FIXME implement |
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*top=0; |
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*left=0; |
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*right=0; |
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} |
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void ibom_update (void) |
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{
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// FIXME implement |
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} |
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void ibom_debug (void) |
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{
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usb_puts("# Debugging RBOM\n");
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while(1) {
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pUsr(0x0, 0x10, 500); |
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} |
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exit(1); /* Control should never reach here */ |
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} |
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static void pDataDump(int startPort, int stopPort, unsigned int delay) {
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char buf[16]; |
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int i; |
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usb_puts("# port:\t\tval:\n\n");
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for (i = startPort; i <= stopPort; i++) {
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usb_puts(itoa(analog10(i), buf, 10)); |
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usb_puts("\n");
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} |
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delay_ms(delay); |
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} |
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static void pUsr(int startPort, int stopPort, unsigned int delay) {
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char buf[16]; |
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int i; |
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usb_puts("# port:\t\tval:\n\n");
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for (i = startPort; i <= stopPort; i++) {
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usb_puts(itoa(i, buf, 10)); |
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usb_puts("\t\t");
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usb_puts(itoa(analog10(i), buf, 10)); |
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usb_puts("\n");
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} |
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delay_ms(delay); |
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} |
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| trunk/code/projects/diagnostic_station/station/dump_station.c | ||
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| 44 | 44 |
} |
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} |
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void dump_station_rbom (void)
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void dump_station_ibom (void)
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{
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uint16_t top, left, right; |
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char c; |
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while (usb_getc_nb (&c)==-1) |
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{
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rbom_update ();
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rbom_read (&top, &left, &right);
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ibom_update ();
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ibom_read (&top, &left, &right);
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usb_puti (top); |
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usb_puts (" ");
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usb_puti (left); |
| trunk/code/projects/diagnostic_station/station/hardware_ibom.h | ||
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#ifndef _hardware_ibom_h |
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#define _hardware_ibom_h |
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#include <dragonfly_lib.h> |
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#include "global.h" |
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|
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/* |
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* Inverse BOM sensor macros for (N)orth, |
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* (S)outh, (E)ast, and (W)est positions. |
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*/ |
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// FIXME do it right |
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#define RBOM_SENSOR_LEFT AN3 |
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#define RBOM_SENSOR_RIGHT AN4 |
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#define RBOM_SENSOR_TOP AN5 |
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//#define RBOM_SENSOR_ AN6 |
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void ibom_init (void); |
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void ibom_set (bool on); |
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void ibom_read (uint16_t *top, uint16_t *left, uint16_t *right); |
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void ibom_update (void); |
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void ibom_debug (void); |
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#endif |
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| trunk/code/projects/diagnostic_station/station/dump_station.h | ||
|---|---|---|
| 5 | 5 |
void dump_station_dynamos (void); |
| 6 | 6 |
void dump_station_turntable (void); |
| 7 | 7 |
void dump_station_wall (void); |
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void dump_station_rbom (void);
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void dump_station_ibom (void);
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| 9 | 9 |
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| 10 | 10 |
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| 11 | 11 |
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| trunk/code/projects/diagnostic_station/station/test_bom.c | ||
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| 2 | 2 |
#include "global.h" |
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#include "hardware_turntable.h" |
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#include "hardware_rbom.h"
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#include "hardware_ibom.h"
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#include "comm_robot.h" |
| 7 | 7 |
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static uint16_t bom_emitter_position (uint8_t num) |
| ... | ... | |
| 52 | 52 |
turntable_rotate_to_position (bom_emitter_position (n)); |
| 53 | 53 |
robot_set_bom (1<<n); |
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rbom_update ();
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ibom_update ();
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#define TOP 0 |
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#define LEFT 1 |
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#define RIGHT 2 |
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rbom_read (&values[TOP], &values[LEFT], &values[RIGHT]);
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ibom_read (&values[TOP], &values[LEFT], &values[RIGHT]);
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| 60 | 60 |
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robot_set_bom (0); |
| 62 | 62 |
|
| ... | ... | |
| 80 | 80 |
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| 81 | 81 |
uint16_t on_value, off_value; |
| 82 | 82 |
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rbom_set (true);
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ibom_set (true);
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| 84 | 84 |
robot_read_bom (n, &on_value); |
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rbom_set (false);
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ibom_set (false);
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robot_read_bom (n, &off_value); |
| 87 | 87 |
|
| 88 | 88 |
// Send data |
| trunk/code/projects/diagnostic_station/station/comm_interactive.c | ||
|---|---|---|
| 22 | 22 |
case 'e': case 'E': dump_station_dynamos (); break; |
| 23 | 23 |
case 'w': case 'W': dump_station_wall (); break; |
| 24 | 24 |
case 't': case 'T': dump_station_turntable (); break; |
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case 'r': case 'R': dump_station_rbom (); break;
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case 'r': case 'R': dump_station_ibom (); break;
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| 26 | 26 |
case ESC: return; |
| 27 | 27 |
default: break; |
| 28 | 28 |
} |
| trunk/code/projects/diagnostic_station/station/main.c | ||
|---|---|---|
| 104 | 104 |
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| 105 | 105 |
orbs_set(255, 0,255,255,0,255); |
| 106 | 106 |
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rbom_debug();
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ibom_debug();
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| 108 | 108 |
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| 109 | 109 |
return 0; |
| 110 | 110 |
} |
| trunk/code/projects/diagnostic_station/station/hardware.c | ||
|---|---|---|
| 5 | 5 |
usb_puts ("# Initializing station hardware" NL);
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| 6 | 6 |
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| 7 | 7 |
dynamos_init (); |
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rbom_init ();
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ibom_init ();
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| 9 | 9 |
wall_init (); |
| 10 | 10 |
turntable_init (); |
| 11 | 11 |
} |
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