Revision 448
moved new BOM code into trunk (wrapper functions, etc...). still need to research deprecated function warnings. FYI, get_max_bom(), bom_on(), and bom_off() are deprecated. See bom.h for new functions/usage.
| bom.c | ||
|---|---|---|
| 38 | 38 |
#include "dio.h" |
| 39 | 39 |
#include "analog.h" |
| 40 | 40 |
|
| 41 |
//TODO: DELETE THIS |
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| 42 |
void printi(int i) |
|
| 43 |
{
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char c3 = (i % 10) + '0'; |
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i /= 10; |
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char c2 = (i % 10) + '0'; |
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i /= 10; |
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char c1 = (i % 10) + '0'; |
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if (c1 == '0') |
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{
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c1 = ' '; |
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if (c2 == '0') |
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c2 = ' '; |
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} |
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usb_putc(c1); |
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usb_putc(c2); |
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usb_putc(c3); |
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} |
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|
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//constants |
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const int lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};
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static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};
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| 43 | 62 |
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// internal function prototypes |
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void output_high(int which); |
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void output_low(int which); |
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static void bom_select(char which); |
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| 47 | 65 |
|
| 48 | 66 |
/* |
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Bk R Y (Analog) |
| ... | ... | |
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#define MONK3 _PIN_E6 //blue |
| 78 | 96 |
#define MONK2 _PIN_E7 //white |
| 79 | 97 |
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#define BOM_VALUE_THRESHOLD 200 |
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#define BOM_VALUE_THRESHOLD 200 |
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#define NUM_BOM_LEDS 16 |
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/** |
| ... | ... | |
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* Include bom.h to access these functions. |
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* |
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* @{
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**/ |
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**/ |
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|
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static unsigned int bom_val[NUM_BOM_LEDS]; |
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static char bom_type = BOM; |
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|
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/** |
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* Initializes the BOM. |
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* Call bom_init before reading bom values or turning bom leds. |
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* |
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* @bugs INCOMPLETE - need to fill in init routine for BOM15 |
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* |
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* @see bom_refresh, bom_leds_on, bom_leds_off |
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**/ |
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void bom_init(char type) {
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bom_type = type; |
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switch(bom_type) {
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case BOM: |
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break; |
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case BOM15: |
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break; |
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case RBOM: |
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break; |
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//default: |
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} |
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} |
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|
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/** |
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* Iterates through each bit in the bit_field. For each set bit, sets the corresponding bom select bits |
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* and updates the corresponding bom value with an analog_get8 reading. analog_init and bom_init |
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* must be called for this to work. |
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* |
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* |
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* @param bit_field specifies which elements in bom_val[] should be updated. Use BOM_ALL to refresh all values. |
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* Ex. if 0x0003 is passed, bom_val[0] and bom_val[1] will be updated. |
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* |
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* @see bom_get |
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**/ |
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void bom_refresh(int bit_field) {
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int i; |
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analog_stop_loop(); |
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for(i = 0; i < NUM_BOM_LEDS; i++) {
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if(bit_field & 0x1) {
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bom_select(lookup[i]); |
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bom_val[i] = analog_get8(MONKI); |
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} |
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bit_field = bit_field >> 1; |
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} |
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analog_start_loop(); |
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} |
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/** |
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* Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. |
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* |
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* @param which which bom value to return |
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* |
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* @return the bom value |
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* |
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* see bom_refresh |
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**/ |
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int bom_get(int which) {
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return bom_val[which]; |
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} |
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/** |
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* Compares all the values in bom_val[] and returns the index to the lowest (max) value element. |
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* |
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* @return index to the lowest (max) bom value element. -1 if no value is lower than |
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* BOM_VALUE_THRESHOLD |
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**/ |
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int bom_get_max(void) {
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int i, lowest_val, lowest_i; |
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lowest_i = -1; |
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lowest_val = 255; |
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for(i = 0; i < NUM_BOM_LEDS; i++) {
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printi(bom_val[i]); |
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usb_puts(" ");
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if(bom_val[i] < lowest_val) {
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lowest_val = bom_val[i]; |
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lowest_i = i; |
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} |
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} |
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usb_puts("<< BOM_GET_MAX\n\r");
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if(lowest_val < BOM_VALUE_THRESHOLD) |
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return lowest_i; |
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else |
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return -1; |
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} |
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/** |
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* Iterates through each bit in the bit_field. For each set bit, turns on the corresponding bom led. |
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* bom_init must be called for this to work. Only works with BOM_ALL if using the original bom. |
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* |
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* @param bit_field specifies which leds should be turned on. Use BOM_ALL to turn on all bom leds. |
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* Ex. if 0x0005 is passed, leds 0 and 2 will be turned on. |
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**/ |
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void bom_leds_on(int bit_field) {
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switch(bom_type) {
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case BOM: |
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if(bit_field == BOM_ALL) {
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digital_output(MONKL, 1); |
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} |
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break; |
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case BOM15: |
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//add bom 1.5 code here |
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break; |
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case RBOM: |
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//add rbom code here |
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break; |
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} |
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} |
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|
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/** |
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* Iterates through each bit in the bit_field. For each set bit, turns off the corresponding bom led. |
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* bom_init must be called for this to work. Only works with BOM_ALL if using the original bom. |
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* |
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* @param bit_field specifies which leds should be turned off. Use BOM_ALL to turn off all bom leds. |
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* Ex. if 0x000B is passed, leds 0 and 3 will be turned off. |
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**/ |
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void bom_leds_off(int bit_field) {
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switch(bom_type) {
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case BOM: |
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if(bit_field == BOM_ALL) {
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digital_output(MONKL, 0); |
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} |
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break; |
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case BOM15: |
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//add bom 1.5 code here |
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break; |
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case RBOM: |
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//add rbom code here |
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break; |
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} |
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} |
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|
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/** |
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* Returns the direction of the maximum BOM reading, |
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* (DEPRECATED) Returns the direction of the maximum BOM reading,
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* as an integer in the range 0-15. 0 indicates to the |
| 101 | 258 |
* robot's right, while the rest of the sensors are |
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* numbered counterclockwise. This is useful for determining |
| ... | ... | |
| 109 | 266 |
* @see analog_init |
| 110 | 267 |
**/ |
| 111 | 268 |
int get_max_bom(void) {
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int max_bom_temp = 0; |
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int a, i, j, h; |
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h = 255; |
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//Turn off the loop so that we can actually use analog8 correctly |
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analog_stop_loop(); |
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|
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//Iterate through through each LED |
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for (j = 0; j < 16; j++) |
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{
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i = lookup[j]; |
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if (i&8) |
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output_high(MONK3); |
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else |
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output_low(MONK3); |
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if (i&4) |
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output_high(MONK2); |
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else |
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output_low(MONK2); |
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if (i&2) |
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output_high(MONK1); |
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else |
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output_low(MONK1); |
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if (i&1) |
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output_high(MONK0); |
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else |
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output_low(MONK0); |
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a = analog_get8(MONKI); |
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if (a < h) |
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{
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h = a; |
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max_bom_temp = j; |
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} |
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} |
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//Restart loop now that we are done using analog8 |
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analog_start_loop(); |
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|
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//threshold on the bom analog value. |
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//defined in bom.h |
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// if the analog value read is above the threshold, we cannot see a robot |
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// (remember, low means higher intensity). |
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if(h < BOM_VALUE_THRESHOLD) {
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return max_bom_temp; |
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} |
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else |
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return -1; |
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bom_refresh(BOM_ALL); |
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return bom_get_max(); |
|
| 166 | 271 |
} |
| 167 | 272 |
|
| 168 | 273 |
/** |
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* Flashes the BOM. analog_init must be called before this |
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* function can be used. |
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* (DEPRECATED) Turns on all bom leds. |
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| 171 | 275 |
* |
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* @see bom_off, analog_init
|
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* @see bom_off |
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| 173 | 277 |
**/ |
| 174 | 278 |
void bom_on(void) |
| 175 | 279 |
{
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output_high(MONKL);
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bom_leds_on(BOM_ALL);
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| 177 | 281 |
} |
| 178 | 282 |
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| 179 | 283 |
/** |
| 180 |
* Stops flashing the BOM. analog_init must be called |
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* before this function can be used. |
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* (DEPRECATED) Turns off all bom leds. |
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| 182 | 285 |
* |
| 183 |
* @see bom_on, analog_init
|
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* @see bom_on |
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| 184 | 287 |
**/ |
| 185 | 288 |
void bom_off(void) |
| 186 | 289 |
{
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output_low(MONKL);
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bom_leds_off(BOM_ALL);
|
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| 188 | 291 |
} |
| 189 | 292 |
|
| 190 | 293 |
/** @} **/ //end group |
| 294 |
+static void bom_select(char which) {
|
|
| 295 |
if (which&8) |
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digital_output(MONK3, 1); |
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else |
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| 298 |
digital_output(MONK3, 0); |
|
| 191 | 299 |
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| 192 |
void output_high(int which) {
|
|
| 193 |
digital_output(which, 1); |
|
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} |
|
| 300 |
if (which&4) |
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| 301 |
digital_output(MONK2, 1); |
|
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else |
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| 303 |
digital_output(MONK2, 0); |
|
| 195 | 304 |
|
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void output_low(int which) {
|
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digital_output(which, 0); |
|
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} |
|
| 305 |
if (which&2) |
|
| 306 |
digital_output(MONK1, 1); |
|
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else |
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| 308 |
digital_output(MONK1, 0); |
|
| 199 | 309 |
|
| 310 |
if (which&1) |
|
| 311 |
digital_output(MONK0, 1); |
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else |
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digital_output(MONK0, 0); |
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} |
|
Also available in: Unified diff