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+/* main.c */
+/* es - Input/Output general purpose board. {{{
+ *
+ * Copyright (C) 2006 Dufour Jérémy
+ *
+ * Robot APB Team/Efrei 2004.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * 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 "io.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+#include "modules/utils/utils.h"
+
+#include "timer.h"
+#include "rvb_sensor.h"
+
+
+/* Statistics for sensors */
+uint8_t rvb_sensors_stats = 0;
+uint8_t rvb_sensors_stats_enable = 0;
+
+/** Call when we receive some data from proto (uart) */
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ /* This macro combine command and size in one integer. */
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ /* Reset */
+ case c ('z', 0):
+ utils_reset ();
+ break;
+ case c ('S', 1):
+ rvb_sensors_stats = rvb_sensors_stats_enable = args[0];
+ break;
+ case c ('s', 2):
+ rvb_sensor_watch (args[0], args[1]);
+ break;
+ /* Unknown command */
+ default:
+ proto_send0 ('?');
+ return;
+ }
+ /* When no error acknoledge. */
+ proto_send (cmd, size, args);
+#undef c
+}
+
+int
+main (void)
+{
+ uart0_init ();
+ timer_init ();
+ rvb_sensors_init ();
+ sei ();
+ proto_send0 ('z');
+
+ while (1)
+ {
+ timer_wait ();
+ if (rvb_sensors_stats_enable && !--rvb_sensors_stats)
+ {
+ rvb_sensors_stats = rvb_sensors_stats_enable;
+ proto_send4w ('S', rvb_sensors_values[7][0],
+ rvb_sensors_values[7][1], rvb_sensors_values[7][2],
+ rvb_sensors_values[7][3]);
+ }
+ rvb_sensors_start_update ();
+ while (uart0_poll ())
+ proto_accept (uart0_getc ());
+ }
+}