Colony

/**

 * Copyright (c) 2007 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 **/

/**

 * @file bom.c

 * @brief Implementation for using the BOM

 *

 * Contains functions for using the Bearing and Orientation Module (BOM)

 *

 * @author Colony Project, CMU Robotics Club

 **/

#include <dragonfly_lib.h>

#include "bom.h"

#include "dio.h"

#include "analog.h"

#include <avr/io.h>

//constants

static const char lookup[16] = {7,6,5,0xe,1,4,3,2,0xf,0,0xd,8,0xc,0xb,9,0xa};

// internal function prototypes

static void bom_select(char which);

/*

 Bk R Y (Analog)

---------

 Green

 Blue

 White

---------

 Blue

 White

*/

/*

the analog pin definitions from dio.h DO NOT work here,

so we must use PF0 from avrgcc (as opposed to _PIN_F0).

BUT the dio pin definitions from dio.h must be used (no PE...).

also, _PIN_E2 is initialized to high for some reason,

which turns the BOM on when the robot is turned on.

WORK-AROUND: call digital_output(_PIN_E2,0) at some point.

*/

#define MONKI PF0         //analog (yellow)

//------------------------//

#define MONKL _PIN_E2     //green

#define MONK1 _PIN_E3     //blue

#define MONK0 _PIN_E4     //white

//------------------------//

#define MONK3 _PIN_E6     //blue

#define MONK2 _PIN_E7     //white

#define BOM_VALUE_THRESHOLD 200

#define NUM_BOM_LEDS 16

static unsigned int bom_val[NUM_BOM_LEDS];

static char bom_type = BOM;

void bom_init(char type) {

    bom_type = type;

    switch(bom_type) {

    case BOM:

        break;

    case BOM15:

        break;

    case RBOM:

        break;

    //default:

    }

}

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(lookup[i]);

            bom_val[i] = analog_get8(MONKI);

        }

        bit_field = bit_field >> 1;

    }

    analog_start_loop();

}

int bom_get(int which) {

    return bom_val[which];

}

int bom_get_max(void) {

    int i, lowest_val, lowest_i;

    lowest_i = -1;

    lowest_val = 255;

    for(i = 0; i < NUM_BOM_LEDS; i++) {

        if(bom_val[i] < lowest_val) {

            lowest_val = bom_val[i];

            lowest_i = i;

        }

    }

    if(lowest_val < BOM_VALUE_THRESHOLD)

        return lowest_i;

    else

        return -1;

}

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;

    }

}

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;

    }

}

void bom_on(void)

{

  bom_leds_on(BOM_ALL);

}

void bom_off(void)

{

    bom_leds_off(BOM_ALL);

}

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);

}