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-rw-r--r--digital/io-hub/src/common/contact.avr.c98
-rw-r--r--digital/io-hub/src/common/contact.h55
-rw-r--r--digital/io-hub/src/common/contact.host.c98
-rw-r--r--digital/io-hub/src/robospierre/Makefile1
-rw-r--r--digital/io-hub/src/robospierre/contact_defs.h37
-rw-r--r--digital/io-hub/src/robospierre/main.c15
-rw-r--r--digital/io-hub/src/robospierre/simu.host.c3
-rw-r--r--digital/io-hub/src/robospierre/simu.host.h2
8 files changed, 309 insertions, 0 deletions
diff --git a/digital/io-hub/src/common/contact.avr.c b/digital/io-hub/src/common/contact.avr.c
new file mode 100644
index 00000000..9f6869b4
--- /dev/null
+++ b/digital/io-hub/src/common/contact.avr.c
@@ -0,0 +1,98 @@
+/* contact.avr.c */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "contact.h"
+
+/** Filter depth. */
+#define CONTACT_JACK_FILTER_DEPTH 50
+
+/** Contact context. */
+struct contact_t
+{
+ /** Jack current state. */
+ uint8_t jack_state;
+ /** Jack filter, number of updates before state can change. */
+ uint8_t jack_filter;
+};
+
+/** Global context. */
+struct contact_t contact_global;
+#define ctx contact_global
+
+void
+contact_init (void)
+{
+ /* Pull-up. */
+#define CONTACT(io) IO_SET_ (io);
+ CONTACT (CONTACT_COLOR);
+ CONTACT (CONTACT_JACK);
+ CONTACT_LIST
+#undef CONTACT
+ /* Default to jack out. */
+ ctx.jack_state = 1;
+}
+
+void
+contact_update (void)
+{
+ uint8_t jack_now = IO_GET (CONTACT_JACK);
+ /* If state is unchanged, reset filter. */
+ if (jack_now == ctx.jack_state)
+ ctx.jack_filter = 0;
+ /* If state changed, should be stable for CONTACT_JACK_FILTER_DEPTH before
+ * it goes through the filter. */
+ else if (ctx.jack_filter++ == CONTACT_JACK_FILTER_DEPTH)
+ {
+ ctx.jack_state = jack_now;
+ ctx.jack_filter = 0;
+ }
+}
+
+enum team_color_e
+contact_get_color (void)
+{
+ return !IO_GET (CONTACT_COLOR) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
+}
+
+uint8_t
+contact_get_jack (void)
+{
+ return ctx.jack_state;
+}
+
+uint32_t
+contact_all (void)
+{
+ uint32_t contacts = 0, bit = 1;
+#define CONTACT(io) do { \
+ contacts |= (IO_GET_ (io) ? bit : 0); \
+ bit <<= 1; \
+} while (0);
+ CONTACT (CONTACT_COLOR);
+ CONTACT (CONTACT_JACK);
+ CONTACT_LIST
+#undef CONTACT
+ return contacts;
+}
diff --git a/digital/io-hub/src/common/contact.h b/digital/io-hub/src/common/contact.h
new file mode 100644
index 00000000..fce06f84
--- /dev/null
+++ b/digital/io-hub/src/common/contact.h
@@ -0,0 +1,55 @@
+#ifndef contact_h
+#define contact_h
+/* contact.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "simu.host.h"
+#include "defs.h"
+#include "io.h"
+
+#include "contact_defs.h"
+
+/** To get a state of a generic contact, use: IO_GET (CONTACT_EXAMPLE). */
+
+/** Initialize contact module. */
+void
+contact_init (void);
+
+/** Update contact module. This handle debouncing. */
+void
+contact_update (void);
+
+/** Get color switch state, unfiltered. */
+enum team_color_e
+contact_get_color (void);
+
+/** Get filtered jack state. */
+uint8_t
+contact_get_jack (void);
+
+/** Return state of all contact, unfiltered. */
+uint32_t
+contact_all (void);
+
+#endif /* contact_h */
diff --git a/digital/io-hub/src/common/contact.host.c b/digital/io-hub/src/common/contact.host.c
new file mode 100644
index 00000000..5e2309c4
--- /dev/null
+++ b/digital/io-hub/src/common/contact.host.c
@@ -0,0 +1,98 @@
+/* contact.host.c */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "contact.h"
+
+#include "modules/host/host.h"
+#include "modules/host/mex.h"
+
+/** Contact context. */
+struct contact_t
+{
+ /** All contact state. */
+ uint32_t all;
+ /** Jack current state. */
+ uint8_t jack_state;
+ /** Color current state. */
+ enum team_color_e color_state;
+};
+
+/** Global context. */
+struct contact_t contact_global;
+#define ctx contact_global
+
+static void
+contact_handle (void *user, mex_msg_t *msg)
+{
+ uint32_t contacts;
+ mex_msg_pop (msg, "L", &contacts);
+ ctx.all = contacts;
+ ctx.color_state = !(contacts & 1) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
+ ctx.jack_state = (contacts & 2) ? 1 : 0;
+ contacts >>= 2;
+#define CONTACT(io) do { \
+ if (contacts & 1) \
+ IO_PIN_ (io) |= IO_BV_ (io); \
+ else \
+ IO_PIN_ (io) &= ~IO_BV_ (io); \
+ contacts >>= 1; \
+} while (0);
+ CONTACT_LIST
+#undef CONTACT
+}
+
+void
+contact_init (void)
+{
+ const char *mex_instance = host_get_instance ("io-hub0", 0);
+ uint8_t mtype = mex_node_reservef ("%s:contact", mex_instance);
+ mex_node_register (mtype, contact_handle, 0);
+ /* Default to jack out. */
+ ctx.jack_state = 1;
+}
+
+void
+contact_update (void)
+{
+ /* Nothing to do. */
+}
+
+enum team_color_e
+contact_get_color (void)
+{
+ return ctx.color_state;
+}
+
+uint8_t
+contact_get_jack (void)
+{
+ return ctx.jack_state;
+}
+
+uint32_t
+contact_all (void)
+{
+ return ctx.all;
+}
diff --git a/digital/io-hub/src/robospierre/Makefile b/digital/io-hub/src/robospierre/Makefile
index 9d0035fe..a95d7586 100644
--- a/digital/io-hub/src/robospierre/Makefile
+++ b/digital/io-hub/src/robospierre/Makefile
@@ -5,6 +5,7 @@ PROGS = io_hub
# Sources to compile.
io_hub_SOURCES = main.c \
pwm.avr.c pwm.host.c \
+ contact.avr.c contact.host.c \
twi_master.c asserv.c mimot.c \
chrono.c timer.avr.c simu.host.c
# Modules needed for IO.
diff --git a/digital/io-hub/src/robospierre/contact_defs.h b/digital/io-hub/src/robospierre/contact_defs.h
new file mode 100644
index 00000000..55b34354
--- /dev/null
+++ b/digital/io-hub/src/robospierre/contact_defs.h
@@ -0,0 +1,37 @@
+#ifndef contact_defs_h
+#define contact_defs_h
+/* contact_defs.h */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#define CONTACT_COLOR A, 7
+#define CONTACT_JACK F, 7
+#define CONTACT_EX1 E, 0
+#define CONTACT_EX2 E, 1
+
+#define CONTACT_LIST \
+ CONTACT (CONTACT_EX1) \
+ CONTACT (CONTACT_EX2)
+
+#endif /* contact_defs_h */
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 12a35054..bbc9bdb9 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -37,6 +37,7 @@
#include "twi_master.h"
#include "pwm.h"
+#include "contact.h"
#include "io.h"
@@ -46,6 +47,9 @@ enum team_color_e team_color;
/** Asserv stats counters. */
static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
+/** Contact stats counters. */
+static uint8_t main_stats_contact_, main_stats_contact_cpt_;
+
/** Main initialisation. */
static void
main_init (void)
@@ -62,6 +66,7 @@ main_init (void)
twi_master_init ();
/* IO modules. */
pwm_init ();
+ contact_init ();
/* Initialization done. */
proto_send0 ('z');
}
@@ -94,6 +99,7 @@ main_loop (void)
proto_accept (uart0_getc ());
/* Update IO modules. */
pwm_update ();
+ contact_update ();
/* Only manage events if slaves are synchronised. */
if (twi_master_sync ())
main_event_to_fsm ();
@@ -108,6 +114,11 @@ main_loop (void)
/* Reset stats counter */
main_stats_asserv_cpt_ = main_stats_asserv_;
}
+ if (main_stats_contact_ && !--main_stats_contact_cpt_)
+ {
+ proto_send1d ('P', contact_all ());
+ main_stats_contact_cpt_ = main_stats_contact_;
+ }
}
}
@@ -144,6 +155,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Position stats. */
main_stats_asserv_ = main_stats_asserv_cpt_ = args[0];
break;
+ case c ('P', 1):
+ /* Contact stats. */
+ main_stats_contact_ = main_stats_contact_cpt_ = args[0];
+ break;
default:
/* Unknown commands */
proto_send0 ('?');
diff --git a/digital/io-hub/src/robospierre/simu.host.c b/digital/io-hub/src/robospierre/simu.host.c
index 76e48edd..8f4019aa 100644
--- a/digital/io-hub/src/robospierre/simu.host.c
+++ b/digital/io-hub/src/robospierre/simu.host.c
@@ -30,6 +30,9 @@
#include "modules/host/mex.h"
#include "io.h"
+/** AVR registers. */
+uint8_t PINE;
+
/** Initialise simulation. */
void
simu_init (void)
diff --git a/digital/io-hub/src/robospierre/simu.host.h b/digital/io-hub/src/robospierre/simu.host.h
index 76326a31..4b461e86 100644
--- a/digital/io-hub/src/robospierre/simu.host.h
+++ b/digital/io-hub/src/robospierre/simu.host.h
@@ -27,6 +27,8 @@
#ifdef HOST
+extern uint8_t PINE;
+
#else /* !defined (HOST) */
#endif /* !defined (HOST) */