From a367d0c7148a6de0c16aa8f9dabd597be01d3584 Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Sat, 9 May 2009 05:05:39 +0200 Subject: * digital/io/src: - fix init FSM (fix angle values) - implement filterbridge FSM --- digital/io/src/main.c | 27 +++++++++++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) (limited to 'digital/io/src/main.c') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index 33f6c838..32be6ac0 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -89,6 +89,8 @@ uint8_t main_always_stop_for_obstacle = 1; */ uint16_t main_move_wait_cycle; +/* FIXME to be delete */ +uint8_t jack_emulation = 0; /** * The same for init FSM */ @@ -150,8 +152,8 @@ main_init (void) fsm_init(&elevator_fsm); fsm_init(&filterbridge_fsm); /* Start all FSM (except move FSM) */ - fsm_handle_event (&top_fsm, TOP_EVENT_start); - fsm_handle_event (&init_fsm, INIT_EVENT_start); + //fsm_handle_event (&top_fsm, TOP_EVENT_start); + //fsm_handle_event (&init_fsm, INIT_EVENT_start); fsm_handle_event (&filterbridge_fsm, FILTERBRIDGE_EVENT_start); /* fsm_handle_event (&top_fsm, TOP_EVENT_start); fsm_handle_event (&top_fsm, TOP_EVENT_start); @@ -391,6 +393,24 @@ main_loop (void) --main_init_wait_cycle; if(!main_init_wait_cycle) FSM_HANDLE_EVENT (&init_fsm, INIT_EVENT_init_tempo_ended); + /* test filterbridge sensor */ + if(!IO_GET (CONTACT_FILTER_BRIDGE_PUCK)) + { + FSM_HANDLE_EVENT (&filterbridge_fsm, + FILTERBRIDGE_EVENT_puck_on_pos2); + } + else + { + FSM_HANDLE_EVENT (&filterbridge_fsm, + FILTERBRIDGE_EVENT_no_puck_on_pos2); + } + /* FIXME to be delete */ + if(jack_emulation) + { + FSM_HANDLE_EVENT (&filterbridge_fsm, + FILTERBRIDGE_EVENT_jack_inserted_into_bot); + } + } } @@ -406,6 +426,9 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) #define c(cmd, size) (cmd << 8 | size) switch (c (cmd, size)) { + case c ('j', 0): + jack_emulation = 1; + break; case c ('z', 0): /* Reset */ utils_reset (); -- cgit v1.2.3