/ - Diff - Colony Scout OS - Robotics Club

     // rx global vars
     static uint8_t prev_bom_sig;
     static struct bom_rx_t {
         uint8_t bits_rx;
         uint8_t count;
         uint16_t bits;
         int last_bit;
         int last_time;
         uint8_t new_data;
         uint8_t address;
-...
+    }
     ISR(TIMER4_COMPA_vect) {
       if (out_counter) {
         if (out_high) {
           stop_38kHz_signal();
           if (out_msg & 1) {
       if (out_high) {
         stop_38kHz_signal();
         if (out_counter) {
           out_counter--;
           if ((out_msg >> out_counter) & 1) {
             OCR4A = TIME_MICROS(1680, 64);
           } else {
             OCR4A = TIME_MICROS(680, 64);
+          }
           out_msg >>= 1;
           out_counter--;
         } else {
           start_38kHz_signal();
           OCR4A = TIME_MICROS(320, 64);
           stop_data_signal();
           out_done = 1;
+        }
       } else {
         stop_data_signal();
         out_done = 1;
         start_38kHz_signal();
         OCR4A = TIME_MICROS(320, 64);
+      }
+    }
-...
         case BOM_RIGHT: out_pin_mask = _BV(BOM_EMIT2); break;
         case BOM_BACK:  out_pin_mask = _BV(BOM_EMIT3); break;
+      }
       out_counter = 17;
       out_counter = 16;
       out_msg = sharp_msg_make(0x2A, bom_msg_make(robot_id, dir));
       out_done = 0;
       start_data_signal();
-...
     static void recv_edge(char is_rising, struct bom_rx_t *rx) {
       if (is_rising) {
         // TODO check 320us? or have 320us timeout on rising edge?
       } else {
         // uses timer 1, assuming prescale 1/8
         // timer 1 is set up by range_init()
         int now = TCNT1 * (F_CPU / 1000000) / 8;
         int diff = now - rx->last_bit;
         rx->last_bit = now;
         rx->bits_rx++;
         rx->bits <<= 1;
         if (MIN_LOW_PW < diff && diff < MAX_LOW_PW) {
           // 0 already in bits
         } else if (MIN_HIGH_PW < diff && diff < MAX_HIGH_PW) {
           // add 1 to bits
           rx->bits |= 1;
         } else {
           // error, start from beginning
           rx->bits_rx = 0;
           rx->bits = 0;
+        }
         if (rx->bits_rx == 16) {
           // finished!
           if ((rx->bits & 3) == 2) { // expansion and check bits
             rx->data = (rx->bits >> 2) & 0xff;
             rx->address = (rx->bits >> 10) & 0x1f;
             rx->new_data = 1;
         // this should be in units of microseconds
         int now = TCNT1 * (F_CPU / 1000000 / 8);
         if (rx->count) {
           int diff = now - rx->last_time;
           rx->bits <<= 1;
           if (MIN_LOW_PW < diff && diff < MAX_LOW_PW) {
             // 0 already in bits
           } else if (MIN_HIGH_PW < diff && diff < MAX_HIGH_PW) {
             // add 1 to bits
             rx->bits |= 1;
           } else {
             // error, start from beginning
             rx->count = 0;
             rx->bits = 0;
+          }
           if (rx->count == 16) {
             // finished!
             //if ((rx->bits & 3) == 2) { // expansion and check bits
               rx->data = (rx->bits >> 2) & 0xff;
               rx->address = (rx->bits >> 10) & 0x1f;
               rx->new_data = 1;
             //}
             rx->count = 0;
             rx->bits = 0;
+          }
           rx->bits_rx = 0;
           rx->bits = 0;
+        }
       } else {
         // TODO check 320us? or have 320us timeout on rising edge?
         rx->count++;
         rx->last_time = now;
+      }
+    }

     #define BOM_RIGHT 3
     // timing, in us, for read of valid bits
     #define MIN_LOW_PW 800
     #define MAX_LOW_PW 1200
     #define MIN_HIGH_PW 1800
     #define MAX_HIGH_PW 2200
     #define MIN_LOW_PW 600
     #define MAX_LOW_PW 1400
     #define MIN_HIGH_PW 1600
     #define MAX_HIGH_PW 2400
     // returned by bom_get if there is no new data since last call
     #define BOM_NO_DATA -1
     // i/o pins
     // if these are changed, remember to change bom_init and/or ISRs
     #define BOM_SIG PORTB
     #define BOM_SIG PINB
     #define BOM_SIG0 PB0
     #define BOM_SIG1 PB1
     #define BOM_SIG2 PB2

scout_avr/src/debug.h
	1	#ifndef _DEBUG_H
	2	#define _DEBUG_H
	3
	4	void debug(const char *str);
	5
	6	#endif

     ros::Publisher *ptest_out;
     void debug(const char *str) {
+    }
     void callback(const std_msgs::Int16& msg)
+    {
       ptest_out->publish(&msg);
-...
     #include "range.h"
     #include "bom.h"
     Atmega128rfa1 avr;
     void debug(const char *str) {
       avr.puts(str);
+    }
     int main()
+    {
       char buf[20];
       int i;
       char id = 0;
       unsigned long now, next = 0;
       Atmega128rfa1 avr;
       avr.init();
       range_init();
       bom_init();
       set_robot_id(0x2a);
       avr.puts("Hello!\r\n");
       while (1)
+      {
         now = avr.time();
         if (now > next) {
           next = now + 100;
           id++;
           if (id == 0x40) {
             id = 0;
+          }
           set_robot_id(id);
           /*utoa(range_get(0), buf, 10);
           avr.puts("Range: ");
           avr.puts(buf);
-...
               itoa(i, buf, 10);
               avr.puts(buf);
               avr.puts(": ");
               itoa(msg, buf, 10);
               itoa(bom_msg_get_robot_id(msg), buf, 10);
               avr.puts(buf);
               avr.puts(" (");
               itoa(bom_msg_get_dir(msg), buf, 10);
               avr.puts(buf);
               avr.puts(")\r\n");
+            }
+          }
           avr.puts("\r\n");
+        }
+      }
       return 0;

     static void on_edge(int which)
+    {
       unsigned char int_high;
       // TODO centralize timer 1
       // TODO ensure this is in microseconds even for 16MHz
       unsigned int time = TCNT1;
       if (which)

Project

General

Profile

Colony » Colony Scout » Colony Scout OS

Revision 31f4a032