/ - Diff - Colony - Robotics Club

Revision 335

Rewrote bom.c and bom.h for the new analog8 code and for compatibility with bom 1.5 and
rbom. BOM values are now buffered and updating them will require a call to bom_refresh.
Old bom function calls have been left for backwards compatibility, but are now
deprecated. See comments for appropriate use. BOM 1.5 and rbom sections have not been
implemented yet.

Fixed some analog bugs. Made some analog functions static.

May not compile! Not tested!

      * @{
      **/
     int adc_loop_running = 0;
     int adc_current_port = 0;
     adc_t an_val[10];
     static int adc_loop_running = 0;
     static int adc_current_port = 0;
     static adc_t an_val[10];
     /**
      * Initializes the ADC.
-...
+     *
      * @see analog_init
      **/
     void set_adc_mux(int which)
     static void set_adc_mux(int which)
+    {
       // mask so only proper bits are possible.
       PORTG = (PORTG & 0xE3) | ((which & 0x03) << 3) | (which & 0x04);

     #include "analog.h"
     //constants
     const int lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};
     static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};
     // internal function prototypes
     void output_high(int which);
     void output_low(int which);
     // internal function prototypes
     static void output_high(which);
     static void output_low(which);
     static void bom_select(char which);
     /*
      Bk R Y (Analog)
-...
     #define MONK3 _PIN_E6     //blue
     #define MONK2 _PIN_E7     //white
     #define BOM_VALUE_THRESHOLD 200
     #define BOM_VALUE_THRESHOLD 200
     #define NUM_BOM_LEDS 16
     /**
-...
      * Include bom.h to access these functions.
+     *
      * @{
      **/
      **/
     static unsigned int bom_val[NUM_BOM_LEDS];
     static char bom_type = BOM;
     /**
      * Initializes the BOM.
      * Call bom_init before reading bom values or turning bom leds.
+     *
      * @bugs INCOMPLETE - need to fill in init routine for BOM15
+     *
      * @see bom_refresh, bom_leds_on, bom_leds_off
      **/
     void bom_init(char type) {
         bom_type = type;
         switch(bom_type) {
         case BOM:
             break;
         case BOM15:
             break;
         case RBOM:
             break;
         default:
+        }
+    }
     /**
      * Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits
      *    and updates the corresponding bom value with an analog_get8 reading.  analog_init and bom_init
      *    must be called for this to work.
+     *
+     *
      * @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values.
      *    Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated.
+     *
      * @see bom_get
      **/
     void bom_refresh(int bit_field) {
         int i;
         analog_stop_loop();
         for(i = 0; i < NUM_BOM_LEDS; i++) {
             if(bit_field & 0x1) {
                 bom_select(i);
                 bom_val[i] = analog_get8(MONKI);
+            }
             bit_field = bitfield >> 1;
+        }
         analog_start_loop();
+    }
     /**
      * Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values.
+     *
      * @param which which bom value to return
+     *
      * @return the bom value
+     *
      * see bom_refresh
      **/
     int bom_get(char which) {
         return bom_val[which];
+    }
     /**
      * Compares all the values in bom_val[] and returns the index to the lowest (max) value element.
+     *
      * @return index to the lowest (max) bom value element.  -1 if no value is lower than
      *    BOM_VALUE_THRESHOLD
      **/
     int bom_get_max(void) {
         int i, lowest_val, lowest_i;
         lowest_val = bom_val[0];
         lowest_i = 0;
         for(i = 1; i < NUM_BOM_LEDS; i++) {
             if(bom_val[i] < lowest) {
                 lowest_val = bom_val[i];
                 lowest_i = i;
+            }
+        }
         if(lowest_val < BOM_VALUE_THRESHOLD)
             return lowest_i;
         else
             return -1;
+    }
     /**
      * Iterates through each bit in the bit_field. For each set bit, turns on the corresponding bom led.
      *    bom_init must be called for this to work. Only works with BOM_ALL if using the original bom.
+     *
      * @param bit_field specifies which leds should be turned on.  Use BOM_ALL to turn on all bom leds.
      *    Ex. if 0x0005 is passed, leds 0 and 2 will be turned on.
      **/
     void bom_leds_on(int bit_field) {
         switch(bom_type) {
         case BOM:
             if(bit_field == BOM_ALL) {
                 digital_output(MONKL, 1);
+            }
             break;
         case BOM15:
             //add bom 1.5 code here
             break;
         case RBOM:
             //add rbom code here
             break;
+    }
     /**
      * Iterates through each bit in the bit_field. For each set bit, turns off the corresponding bom led.
      *    bom_init must be called for this to work. Only works with BOM_ALL if using the original bom.
+     *
      * @param bit_field specifies which leds should be turned off.  Use BOM_ALL to turn off all bom leds.
      *    Ex. if 0x000B is passed, leds 0 and 3 will be turned off.
      **/
     void bom_leds_off(int bit_field) {
         switch(bom_type) {
         case BOM:
             if(bit_field == BOM_ALL) {
                 digital_output(MONKL, 0);
+            }
             break;
         case BOM15:
             //add bom 1.5 code here
             break;
         case RBOM:
             //add rbom code here
             break;
+    }
     /**
      * Returns the direction of the maximum BOM reading,
      * (DEPRECATED) Returns the direction of the maximum BOM reading,
      * as an integer in the range 0-15. 0 indicates to the
      * robot's right, while the rest of the sensors are
      * numbered counterclockwise. This is useful for determining
-...
+    }
     /**
      * Flashes the BOM. analog_init must be called before this
      * function can be used.
      * (DEPRECATED) Turns on all bom leds.
+     *
      * @see bom_off, analog_init
      * @see bom_off
      **/
     void bom_on(void)
+    {
-...
+    }
     /**
      * Stops flashing the BOM. analog_init must be called
      * before this function can be used.
      * (DEPRECATED) Turns off all bom leds.
+     *
      * @see bom_on, analog_init
      * @see bom_on
      **/
     void bom_off(void)
+    {
-...
     void output_low(int which) {
     	digital_output(which, 0);
+    }
     +static void bom_select(char which) {
           if (which&8)
             digital_output(MONK3, 1);
           else
             digital_output(MONK3, 0);
           if (which&4)
             digital_output(MONK2, 1);
           else
             digital_output(MONK2, 0);
           if (which&2)
             digital_output(MONK1, 1);
           else
             digital_output(MONK1, 0);
           if (which&1)
             digital_output(MONK0, 1);
           else
             digital_output(MONK0, 0);
+    }

      * @addtogroup bom
      * @{
      **/
     /** @brief Include all elements in the 16-bit bitfield **/
     #define BOM_ALL 0xFFFF
     /** @brief Original BOM - No Range, No Individual LED control **/
     #define BOM     0
     /** @brief BOM 1.5 - No Range, Individual LED control **/
     #define BOM15   1
     /** @brief RBOM - Range, Individual LED control **/
     #define RBOM    2
     /** @brief Initialize the bom according to bom type **/
     void bom_init(char type);
     /** @brief Refresh bom_val[] with new values from analog8.  analog_init and bom_init must be called for this to work. **/
     void bom_refresh(int bit_field);
     /** @brief Gets the bom reading from bom_val[which].  Call bom_refresh beforehand to read new bom values. **/
     int bom_get(char which);
     /** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/
     int bom_get_max(void);
     /** @brief Turns on the selected bom leds. Only works with BOM_ALL if using the original bom. **/
     void bom_leds_on(int bit_field);
     /** @brief Turns off the selected bom leds. Only works with BOM_ALL if using the original bom. **/
     void bom_leds_off(int bit_field);
     /** @brief Returns the location of the maximum BOM reading. **/
     int get_max_bom( void );
     /** @brief Turns the BOM on. **/
     /** @brief (DEPRECATED) Gets and compares all bom values.  Returns the index to the highest value element. **/
     int get_max_bom(void);
     /** @brief (DEPRECATED) Turns on all bom leds. **/
     void bom_on(void);
     /** @brief Turns the BOM off. **/
     /** @brief (DEPRECATED) Turns off all bom leds. **/
     void bom_off(void);
     /** @} **/

Also available in: Unified diff

Project

General

Profile

Colony

Revision 335