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+/* sharp.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 "sharp.h"
+
+#include "modules/adc/adc.h"
+#include "modules/utils/utils.h"
+
+/** Array of sharp values. */
+uint16_t sharp_values[SHARP_NUMBER];
+
+/** Thresholds */
+uint16_t sharp_threshold_high_[SHARP_NUMBER],
+ sharp_threshold_low_[SHARP_NUMBER];
+uint8_t sharp_old_state[SHARP_NUMBER];
+
+/** Init this module. */
+void
+sharp_init (void)
+{
+ uint8_t compt;
+ /* Init ADC module */
+ adc_init ();
+ /* All pins are on the right direction, nothing to do */
+ for (compt = 0; compt < SHARP_NUMBER; compt++)
+ {
+ sharp_threshold_high_[compt] = 5000;
+ sharp_threshold_low_[compt] = 4000;
+ }
+}
+
+/** Read data from sharp sensors. */
+void
+sharp_update_values (uint8_t sharp_num)
+{
+ /* Check sharp exists (prevent kernel panic) */
+ if (sharp_num < SHARP_NUMBER)
+ {
+ /* Start capture */
+ adc_start (sharp_num + 1);
+ /* Wait ADC to finish the sensor */
+ while (!adc_checkf ())
+ ;
+ /* Wait a little */
+ utils_delay_us (250);
+ /* Get values */
+ sharp_values[sharp_num] = adc_read ();
+ }
+}
+
+/** Analyse a sharp value. */
+int8_t
+sharp_analyse_values (uint8_t sharp_num)
+{
+ /* Check sharp exists (prevent kernel panic) */
+ if (sharp_num < SHARP_NUMBER)
+ {
+ // XXX Check more often first
+ if (sharp_values[sharp_num] < sharp_threshold_low_[sharp_num])
+ {
+ sharp_old_state[sharp_num] = SHARP_CLEAR;
+ return SHARP_CLEAR;
+ }
+ if (sharp_values[sharp_num] > sharp_threshold_high_[sharp_num])
+ {
+ sharp_old_state[sharp_num] = SHARP_OBSTACLE;
+ return SHARP_OBSTACLE;
+ }
+ /* If we are here, we are inside the threshold, look at previous value */
+ return sharp_old_state[sharp_num];
+ }
+ return -1;
+}
+
+/** Configure sharp threshold. */
+void
+sharp_config_threshold (uint8_t sharp_num, uint16_t high, uint16_t low)
+{
+ /* Check sharp exists (prevent kernel panic) */
+ if (sharp_num < SHARP_NUMBER)
+ {
+ sharp_threshold_high_[sharp_num] = high;
+ sharp_threshold_low_[sharp_num] = low;
+ }
+}