Revision 1271
Added "start_test bom emitter..." and "start_test bom detector"
Bugfix: bom dump reading rangefinder values
| trunk/code/projects/diagnostic_station/station/dump_robot.c | ||
|---|---|---|
| 58 | 58 |
// First read all of the values, then print them, because it's much more readable that way. |
| 59 | 59 |
|
| 60 | 60 |
for (uint8_t i=0; i<16; ++i) |
| 61 |
robot_read_rangefinder (i, &bom[i]);
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| 61 |
robot_read_bom (i, &bom[i]);
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| 62 | 62 |
|
| 63 | 63 |
for (uint8_t i=0; i<16; ++i) |
| 64 | 64 |
{
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| trunk/code/projects/diagnostic_station/station/comm_server.c | ||
|---|---|---|
| 30 | 30 |
const char command_rangefinder [] PROGMEM = "rangefinder"; |
| 31 | 31 |
const char command_motor [] PROGMEM = "motor" ; |
| 32 | 32 |
const char command_encoder [] PROGMEM = "encoder" ; |
| 33 |
const char command_emitter [] PROGMEM = "emitter" ; |
|
| 34 |
const char command_detector [] PROGMEM = "detector" ; |
|
| 33 | 35 |
const char command_help [] PROGMEM = "help" ; |
| 34 | 36 |
|
| 35 | 37 |
// Help |
| ... | ... | |
| 180 | 182 |
test_comm (); |
| 181 | 183 |
} |
| 182 | 184 |
|
| 185 |
/** If the next parameter is "all", call the test all function. If it's a number, call the test one function. **/ |
|
| 183 | 186 |
static void handle_message_start_test_component (char *buffer, void (*test_all_fn)(void), void (*test_one_fn)(uint8_t)) |
| 184 | 187 |
{
|
| 185 | 188 |
// Find the next parameter |
| ... | ... | |
| 202 | 205 |
unhandled_parameters (buffer); |
| 203 | 206 |
} |
| 204 | 207 |
|
| 205 |
static void test_bom_helper (uint8_t num) |
|
| 206 |
{
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| 207 |
test_bom (num, true, true); |
|
| 208 |
} |
|
| 208 |
static void test_bom_both (uint8_t num) { test_bom (num, true , true ); }
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| 209 |
static void test_bom_emitter (uint8_t num) { test_bom (num, true , false); }
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| 210 |
static void test_bom_detector (uint8_t num) { test_bom (num, false, true ); }
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| 209 | 211 |
|
| 210 |
static void test_bom_all_helper (void) |
|
| 211 |
{
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test_bom_all (true, true); |
|
| 213 |
} |
|
| 212 |
static void test_bom_all_both (void) { test_bom_all (true , true ); }
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|
| 213 |
static void test_bom_all_emitter (void) { test_bom_all (true , false); }
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| 214 |
static void test_bom_all_detector (void) { test_bom_all (false, true ); }
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| 214 | 215 |
|
| 215 | 216 |
static void handle_message_start_test_bom (char *buffer) |
| 216 | 217 |
{
|
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// TODO: handle start_test bom _emitter/detector_ all/num |
|
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handle_message_start_test_component (buffer, test_bom_all_helper, test_bom_helper); |
|
| 218 |
// "start_test bom..." |
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| 219 |
char *param=find_next_parameter (buffer); |
|
| 220 |
|
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| 221 |
// In addition to "all" and a number, both handled by handle_message_start_test_component, we can also have |
|
| 222 |
// "emitter" and "detector" here. Not that we pass param rather than buffer in these cases. |
|
| 223 |
if (!param) |
|
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// "start_test bom" |
|
| 225 |
// No paramter found (we could also pass that on to start_test_component) |
|
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parameter_missing (); |
|
| 227 |
else if (serial_match (command_emitter, param)) |
|
| 228 |
// "start_test bom emitter..." |
|
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handle_message_start_test_component (param, test_bom_all_emitter, test_bom_emitter); |
|
| 230 |
else if (serial_match (command_detector, param)) |
|
| 231 |
// "start_test bom detector..." |
|
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handle_message_start_test_component (param, test_bom_all_detector, test_bom_detector); |
|
| 233 |
else |
|
| 234 |
// No emitter/detector given |
|
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handle_message_start_test_component (buffer, test_bom_all_both, test_bom_both); |
|
| 219 | 236 |
} |
| 220 | 237 |
|
| 221 | 238 |
static void handle_message_start_test_rangefinder (char *buffer) |
| trunk/code/projects/diagnostic_station/robot/main.c | ||
|---|---|---|
| 179 | 179 |
encoders_init (); |
| 180 | 180 |
|
| 181 | 181 |
analog_init (ADC_START); |
| 182 |
//bom_init (); |
|
| 182 | 183 |
|
| 183 | 184 |
usb_init (); |
| 184 | 185 |
usb_puts ("Diagnostic station robot starting up\r\n");
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