Revision 1267
Improved station dump mode
Added station dump ADC mode
Removed IBOM debug functions (superseded by dump mode)
| trunk/code/projects/diagnostic_station/station/hardware_ibom.c | ||
|---|---|---|
| 1 | 1 |
#include "hardware_ibom.h" |
| 2 | 2 |
|
| 3 |
static void pDataDump(int startPort, int stopPort, unsigned int delay); |
|
| 4 |
static void pUsr(int startPort, int stopPort, unsigned int delay); |
|
| 5 |
|
|
| 6 | 3 |
void ibom_init (void) |
| 7 | 4 |
{
|
| 8 |
// FIXME implement
|
|
| 5 |
analog_init (ADC_START);
|
|
| 9 | 6 |
} |
| 10 | 7 |
|
| 11 | 8 |
void ibom_set (bool on) |
| ... | ... | |
| 24 | 21 |
|
| 25 | 22 |
void ibom_read (uint16_t *top, uint16_t *left, uint16_t *right) |
| 26 | 23 |
{
|
| 27 |
usb_puts ("# Reading IBOM" NL);
|
|
| 28 | 24 |
// FIXME implement |
| 29 | 25 |
|
| 30 | 26 |
*top=0; |
| ... | ... | |
| 36 | 32 |
{
|
| 37 | 33 |
// FIXME implement |
| 38 | 34 |
} |
| 39 |
|
|
| 40 |
void ibom_debug (void) |
|
| 41 |
{
|
|
| 42 |
usb_puts("# Debugging IBOM\n");
|
|
| 43 |
|
|
| 44 |
while(1) {
|
|
| 45 |
pUsr(0x0, 0x10, 500); |
|
| 46 |
} |
|
| 47 |
|
|
| 48 |
exit(1); /* Control should never reach here */ |
|
| 49 |
} |
|
| 50 |
|
|
| 51 |
static void pDataDump(int startPort, int stopPort, unsigned int delay) {
|
|
| 52 |
|
|
| 53 |
char buf[16]; |
|
| 54 |
int i; |
|
| 55 |
|
|
| 56 |
usb_puts("# port:\t\tval:\n\n");
|
|
| 57 |
|
|
| 58 |
for (i = startPort; i <= stopPort; i++) {
|
|
| 59 |
|
|
| 60 |
usb_puts(itoa(analog10(i), buf, 10)); |
|
| 61 |
usb_puts("\n");
|
|
| 62 |
} |
|
| 63 |
|
|
| 64 |
delay_ms(delay); |
|
| 65 |
|
|
| 66 |
} |
|
| 67 |
|
|
| 68 |
|
|
| 69 |
static void pUsr(int startPort, int stopPort, unsigned int delay) {
|
|
| 70 |
|
|
| 71 |
char buf[16]; |
|
| 72 |
int i; |
|
| 73 |
|
|
| 74 |
usb_puts("# port:\t\tval:\n\n");
|
|
| 75 |
|
|
| 76 |
for (i = startPort; i <= stopPort; i++) {
|
|
| 77 |
|
|
| 78 |
usb_puts(itoa(i, buf, 10)); |
|
| 79 |
usb_puts("\t\t");
|
|
| 80 |
usb_puts(itoa(analog10(i), buf, 10)); |
|
| 81 |
usb_puts("\n");
|
|
| 82 |
|
|
| 83 |
} |
|
| 84 |
|
|
| 85 |
delay_ms(delay); |
|
| 86 |
|
|
| 87 |
} |
|
| trunk/code/projects/diagnostic_station/station/dump_station.c | ||
|---|---|---|
| 11 | 11 |
while (usb_getc_nb (&c)==-1) |
| 12 | 12 |
{
|
| 13 | 13 |
dynamos_read (&left, &right); |
| 14 |
usb_puti (left); |
|
| 15 |
usb_puts (" ");
|
|
| 16 |
usb_puti (right); |
|
| 17 |
usb_puts (NL); |
|
| 14 |
|
|
| 15 |
usb_puts ("Left: "); usb_puti (left ); usb_puts (NL);
|
|
| 16 |
usb_puts ("Right:"); usb_puti (right); usb_puts (NL);
|
|
| 17 |
usb_puts (NL NL); |
|
| 18 |
|
|
| 19 |
delay_ms (100); |
|
| 18 | 20 |
} |
| 19 | 21 |
} |
| 20 | 22 |
|
| ... | ... | |
| 28 | 30 |
turntable=turntable_get_position (); |
| 29 | 31 |
usb_puti (turntable); |
| 30 | 32 |
usb_puts (NL); |
| 33 |
|
|
| 34 |
delay_ms (100); |
|
| 31 | 35 |
} |
| 32 | 36 |
} |
| 33 | 37 |
|
| ... | ... | |
| 41 | 45 |
wall=turntable_get_position (); |
| 42 | 46 |
usb_puti (wall); |
| 43 | 47 |
usb_puts (NL); |
| 48 |
|
|
| 49 |
delay_ms (100); |
|
| 44 | 50 |
} |
| 45 | 51 |
} |
| 46 | 52 |
|
| ... | ... | |
| 53 | 59 |
{
|
| 54 | 60 |
ibom_update (); |
| 55 | 61 |
ibom_read (&top, &left, &right); |
| 56 |
usb_puti (top); |
|
| 57 |
usb_puts (" ");
|
|
| 58 |
usb_puti (left); |
|
| 59 |
usb_puts (" ");
|
|
| 60 |
usb_puti (right); |
|
| 61 |
usb_puts (NL); |
|
| 62 |
|
|
| 63 |
usb_puts ("Top: "); usb_puti (top ); usb_puts (NL);
|
|
| 64 |
usb_puts ("Left: "); usb_puti (left ); usb_puts (NL);
|
|
| 65 |
usb_puts ("Right: "); usb_puti (right); usb_puts (NL);
|
|
| 66 |
usb_puts (NL NL); |
|
| 67 |
|
|
| 68 |
delay_ms (100); |
|
| 62 | 69 |
} |
| 63 | 70 |
} |
| 64 | 71 |
|
| 65 |
|
|
| 66 | 72 |
void dump_station_adc (uint8_t startPort, uint8_t endPort, uint16_t delay) |
| 67 | 73 |
{
|
| 68 |
for (uint8_t i=startPort; i<=endPort; ++i) |
|
| 74 |
char c; |
|
| 75 |
|
|
| 76 |
while (usb_getc_nb (&c)==-1) |
|
| 69 | 77 |
{
|
| 70 |
usb_puti (i); |
|
| 71 |
usb_puts (": ");
|
|
| 72 |
usb_puti (analog10 (i)); |
|
| 73 |
usb_puts ("\t");
|
|
| 74 |
|
|
| 78 |
for (uint8_t i=startPort; i<=endPort; ++i) |
|
| 79 |
{
|
|
| 80 |
if (i<10) usb_puts (" ");
|
|
| 81 |
usb_puti (i); |
|
| 82 |
usb_puts (": ");
|
|
| 83 |
usb_puti (analog10 (i)); |
|
| 84 |
usb_puts (NL); |
|
| 85 |
} |
|
| 86 |
usb_puts(NL NL); |
|
| 87 |
|
|
| 88 |
delay_ms (delay); |
|
| 75 | 89 |
} |
| 76 |
usb_puts("\n");
|
|
| 77 |
|
|
| 78 |
delay_ms (delay); |
|
| 79 | 90 |
} |
| trunk/code/projects/diagnostic_station/station/comm_interactive.c | ||
|---|---|---|
| 17 | 17 |
{
|
| 18 | 18 |
while (1) |
| 19 | 19 |
{
|
| 20 |
usb_puts ("# Dump station sensors menu: (e)ncoders, (w)all, (t)urntable, (r)bom, (a)dc" NL);
|
|
| 20 |
usb_puts ("# Dump station sensors menu: (d)ynamos, (w)all, (t)urntable, (i)bom, (a)dc" NL);
|
|
| 21 | 21 |
|
| 22 | 22 |
char choice = usb_getc (); |
| 23 | 23 |
switch (choice) {
|
| 24 |
case 'e': case 'E': dump_station_dynamos (); break;
|
|
| 25 |
case 'w': case 'W': dump_station_wall (); break; |
|
| 26 |
case 't': case 'T': dump_station_turntable (); break; |
|
| 27 |
case 'r': case 'R': dump_station_ibom (); break;
|
|
| 28 |
case 'a': case 'A': dump_station_adc (0, 16, 0); break; |
|
| 24 |
case 'd': case 'D': dump_station_dynamos (); break;
|
|
| 25 |
case 'w': case 'W': dump_station_wall (); break;
|
|
| 26 |
case 't': case 'T': dump_station_turntable (); break;
|
|
| 27 |
case 'i': case 'I': dump_station_ibom (); break;
|
|
| 28 |
case 'a': case 'A': dump_station_adc (0, 16, 100); break;
|
|
| 29 | 29 |
case ESC: return; |
| 30 | 30 |
default: break; |
| 31 | 31 |
} |
| trunk/code/projects/diagnostic_station/station/main.c | ||
|---|---|---|
| 104 | 104 |
|
| 105 | 105 |
orbs_set(255, 0,255,255,0,255); |
| 106 | 106 |
|
| 107 |
ibom_debug(); |
|
| 108 | 107 |
|
| 109 | 108 |
return 0; |
| 110 | 109 |
} |
| trunk/code/projects/diagnostic_station/robot/main.c | ||
|---|---|---|
| 178 | 178 |
dragonfly_init(ALL_ON); |
| 179 | 179 |
encoders_init (); |
| 180 | 180 |
|
| 181 |
analog_init (ADC_START); |
|
| 182 |
|
|
| 181 | 183 |
usb_init (); |
| 182 | 184 |
usb_puts ("Diagnostic station robot starting up\r\n");
|
| 183 | 185 |
|
Also available in: Unified diff