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authorNicolas Schodet2011-06-01 15:26:22 +0200
committerNicolas Schodet2011-06-01 15:26:22 +0200
commit51b917f7994d6d53fde11263ba4da3470fd2a6c4 (patch)
treebcddd256b54a9be8a77eb190ed891b75ba91edc4 /digital/io-hub/src/robospierre/codebar.avr.c
parentb2c12931a8378cdb2112da8b21b63099683516f5 (diff)
digital/io-hub, host/simu: add codebar
Diffstat (limited to 'digital/io-hub/src/robospierre/codebar.avr.c')
-rw-r--r--digital/io-hub/src/robospierre/codebar.avr.c64
1 files changed, 64 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/codebar.avr.c b/digital/io-hub/src/robospierre/codebar.avr.c
new file mode 100644
index 00000000..d2609012
--- /dev/null
+++ b/digital/io-hub/src/robospierre/codebar.avr.c
@@ -0,0 +1,64 @@
+/* codebar.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 "codebar.h"
+
+#include "defs.h"
+
+#include "modules/twi/twi.h"
+#include "modules/utils/utils.h"
+#include "modules/utils/crc.h"
+#include "modules/utils/byte.h"
+
+#define CODEBAR_ADDRESS 0x20
+#define CODEBAR_STATUS_LENGTH 7
+
+void
+codebar_init (void)
+{
+}
+
+uint8_t
+codebar_get (uint8_t direction)
+{
+ uint8_t buffer[CODEBAR_STATUS_LENGTH];
+ /* Read status. */
+ twi_master_recv (CODEBAR_ADDRESS, buffer, sizeof (buffer));
+ uint8_t ret = twi_master_wait ();
+ if (ret != CODEBAR_STATUS_LENGTH)
+ return 0;
+ uint8_t crc = crc_compute (buffer + 1, CODEBAR_STATUS_LENGTH - 1);
+ if (crc != buffer[0])
+ return 0;
+ /* Get data. */
+ uint8_t offset = direction == DIRECTION_FORWARD ? 1 : 4;
+ uint16_t age = v8_to_v16 (buffer[offset], buffer[offset + 1]);
+ uint16_t type = buffer[offset + 2];
+ if (age > 225)
+ return 0;
+ else
+ return type;
+}
+