/* 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" /* main timer */ #include "sensor_rvb.h" /* RVB sensors management */ /* Statistics for sensors */ uint8_t sensor_rvb_stat_enable = 0; uint8_t sensor_rvb_stats = 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): sensor_rvb_stats = sensor_rvb_stat_enable = args[0]; break; case c ('s', 2): sensor_rvb_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) { int compt; uart0_init (); timer_init (); sensor_rvb_init (); sei (); proto_send0 ('z'); while (1) { timer_wait (); if (sensor_rvb_stat_enable && !--sensor_rvb_stats) { sensor_rvb_stats = sensor_rvb_stat_enable; for (compt = 0; compt < RVB_MAX_SENSOR; compt++) proto_send4w ('S', sensor_rvb_values[compt][0], sensor_rvb_values[compt][1], sensor_rvb_values[compt][2], sensor_rvb_values[compt][3]); } sensor_rvb_start_capture (); while (uart0_poll ()) proto_accept (uart0_getc ()); } }