Revision 1543
Added a bunch of debug prints to the library
| bom.c | ||
|---|---|---|
| 38 | 38 |
#include "serial.h" |
| 39 | 39 |
#include "analog.h" |
| 40 | 40 |
|
| 41 |
//#define DEBUG_BOM_VERBOSE |
|
| 42 |
|
|
| 41 | 43 |
//On the original BOM1.0, the emmitter angular order does not match the analog mux order |
| 42 | 44 |
//so you need to iterate through the mux index in the following order if you want to get |
| 43 | 45 |
//the detector readings in order: |
| ... | ... | |
| 132 | 134 |
**/ |
| 133 | 135 |
int bom_init(char type) {
|
| 134 | 136 |
|
| 135 |
if(bom_initd) |
|
| 136 |
return ERROR_INIT_ALREADY_INITD; |
|
| 137 |
if(bom_initd) {
|
|
| 138 |
DRAGONFLY_DEBUG_PRINT("ERROR: BOM already init'd\r\n");
|
|
| 139 |
return ERROR_INIT_ALREADY_INITD; |
|
| 140 |
} |
|
| 137 | 141 |
|
| 138 | 142 |
|
| 139 | 143 |
bom_type = type; |
| ... | ... | |
| 159 | 163 |
case RBOM: |
| 160 | 164 |
break; |
| 161 | 165 |
default: |
| 166 |
DRAGONFLY_DEBUG_PRINT("ERROR: unknown BOM type ");
|
|
| 167 |
DRAGONFLY_DEBUG_PRINT_INT(bom_type); |
|
| 168 |
DRAGONFLY_DEBUG_PRINT_STR("\r\n");
|
|
| 162 | 169 |
return -1; |
| 163 | 170 |
//default: |
| 164 | 171 |
} |
| ... | ... | |
| 184 | 191 |
int i; |
| 185 | 192 |
int loop_was_running = 0; |
| 186 | 193 |
|
| 187 |
if(!bom_initd) |
|
| 194 |
if(!bom_initd) {
|
|
| 195 |
DRAGONFLY_DEBUG_PRINT("ERROR: BOM not init'd\r\n");
|
|
| 188 | 196 |
return ERROR_LIBRARY_NOT_INITD; |
| 197 |
} |
|
| 189 | 198 |
|
| 190 | 199 |
|
| 191 | 200 |
//Check analog loop status |
| ... | ... | |
| 222 | 231 |
* see bom_refresh |
| 223 | 232 |
**/ |
| 224 | 233 |
int bom_get(int which) {
|
| 225 |
if(!bom_initd) |
|
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return -1; |
|
| 234 |
if(!bom_initd) {
|
|
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DRAGONFLY_DEBUG_PRINT("ERROR: BOM not init'd\r\n");
|
|
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return -1; |
|
| 237 |
} |
|
| 227 | 238 |
|
| 228 | 239 |
return bom_val[which]; |
| 229 | 240 |
} |
| ... | ... | |
| 238 | 249 |
int bom_get_max(void) {
|
| 239 | 250 |
int i, lowest_val, lowest_i; |
| 240 | 251 |
|
| 241 |
if(!bom_initd) |
|
| 252 |
if(!bom_initd) {
|
|
| 253 |
DRAGONFLY_DEBUG_PRINT("ERROR: BOM not init'd\r\n");
|
|
| 242 | 254 |
return -2; |
| 255 |
} |
|
| 243 | 256 |
|
| 244 | 257 |
lowest_i = -1; |
| 245 | 258 |
lowest_val = 255; |
| ... | ... | |
| 252 | 265 |
|
| 253 | 266 |
if(lowest_val < BOM_VALUE_THRESHOLD) |
| 254 | 267 |
return lowest_i; |
| 255 |
else |
|
| 268 |
else {
|
|
| 269 |
#ifdef DEBUG_BOM_VERBOSE |
|
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DRAGONFLY_DEBUG_PRINT("ERROR: no BOM values above threshold\r\n");
|
|
| 271 |
#endif |
|
| 256 | 272 |
return -1; |
| 273 |
} |
|
| 257 | 274 |
} |
| 258 | 275 |
|
| 259 | 276 |
/** |
| ... | ... | |
| 268 | 285 |
int i, max; |
| 269 | 286 |
long long mean = 0, sum = 0; |
| 270 | 287 |
|
| 271 |
if(!bom_initd) |
|
| 288 |
if(!bom_initd) {
|
|
| 289 |
DRAGONFLY_DEBUG_PRINT("ERROR: BOM not init'd\r\n");
|
|
| 272 | 290 |
return ERROR_LIBRARY_NOT_INITD; |
| 291 |
} |
|
| 273 | 292 |
|
| 274 | 293 |
|
| 275 | 294 |
max = bom_get_max(); |
| ... | ... | |
| 279 | 298 |
{
|
| 280 | 299 |
*dist = -1; |
| 281 | 300 |
} |
| 301 |
#ifdef DEBUG_BOM_VERBOSE |
|
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DRAGONFLY_DEBUG_PRINT("ERROR: no BOM values above threshold\r\n");
|
|
| 303 |
#endif |
|
| 282 | 304 |
return -1; |
| 283 | 305 |
} |
| 284 | 306 |
/* Record values into an array */ |
| ... | ... | |
| 314 | 336 |
int i; |
| 315 | 337 |
unsigned int mask = 1<<(NUM_BOM_LEDS-1); |
| 316 | 338 |
|
| 317 |
if(!bom_initd) |
|
| 339 |
if(!bom_initd) {
|
|
| 340 |
DRAGONFLY_DEBUG_PRINT("ERROR: BOM not init'd\r\n");
|
|
| 318 | 341 |
return ERROR_LIBRARY_NOT_INITD; |
| 342 |
} |
|
| 319 | 343 |
|
| 320 | 344 |
switch(bom_type) {
|
| 321 | 345 |
case BOM10: |
| ... | ... | |
| 371 | 395 |
**/ |
| 372 | 396 |
int bom_on(void) |
| 373 | 397 |
{
|
| 374 |
if(!bom_initd) |
|
| 398 |
if(!bom_initd) {
|
|
| 399 |
DRAGONFLY_DEBUG_PRINT("ERROR: BOM not init'd\r\n");
|
|
| 375 | 400 |
return ERROR_LIBRARY_NOT_INITD; |
| 401 |
} |
|
| 376 | 402 |
|
| 377 | 403 |
switch(bom_type) {
|
| 378 | 404 |
case BOM10: |
| ... | ... | |
| 384 | 410 |
case RBOM: |
| 385 | 411 |
break; |
| 386 | 412 |
default: |
| 413 |
DRAGONFLY_DEBUG_PRINT("ERROR: no valid BOM type, cannot turn on\r\n");
|
|
| 387 | 414 |
return -1; |
| 388 | 415 |
} |
| 389 | 416 |
|
| ... | ... | |
| 399 | 426 |
**/ |
| 400 | 427 |
int bom_off(void) |
| 401 | 428 |
{
|
| 402 |
if(!bom_initd) |
|
| 429 |
if(!bom_initd) {
|
|
| 430 |
DRAGONFLY_DEBUG_PRINT("ERROR: BOM not init'd\r\n");
|
|
| 403 | 431 |
return ERROR_LIBRARY_NOT_INITD; |
| 432 |
} |
|
| 404 | 433 |
|
| 405 | 434 |
switch(bom_type) {
|
| 406 | 435 |
case BOM10: |
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