summaryrefslogtreecommitdiff
path: root/digital/io/src/usdist.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/usdist.c')
-rw-r--r--digital/io/src/usdist.c125
1 files changed, 0 insertions, 125 deletions
diff --git a/digital/io/src/usdist.c b/digital/io/src/usdist.c
deleted file mode 100644
index d6fd9730..00000000
--- a/digital/io/src/usdist.c
+++ /dev/null
@@ -1,125 +0,0 @@
-/* usdist.c */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2010 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 "usdist.h"
-#include "timer.h"
-
-#include "modules/adc/adc.h"
-#include "modules/utils/utils.h"
-#include "io.h"
-
-#include "simu.host.h"
-
-uint16_t usdist_mm[USDIST_NB];
-
-/** Describe a sensor. */
-struct usdist_sensor_t
-{
- /** ADC number. */
- uint8_t adc;
- /** Sync PORT. */
- volatile uint8_t *sync_port;
- /** Sync DDR. */
- volatile uint8_t *sync_ddr;
- /** Sync bit mask. */
- uint8_t sync_bv;
-};
-
-/** Define sensors configuration. */
-#define USDIST_SENSOR(adc, p, n) \
- { adc, &IO_PORT_ (p, n), &IO_DDR_ (p, n), IO_BV_ (p, n) }
-struct usdist_sensor_t usdist_sensors[USDIST_NB] = {
- USDIST_SENSOR (0, G, 3),
- USDIST_SENSOR (1, G, 1),
- USDIST_SENSOR (2, C, 7),
- USDIST_SENSOR (3, D, 4),
-};
-
-void
-usdist_init (void)
-{
- uint8_t i;
- adc_init ();
- for (i = 0; i < USDIST_NB; i++)
- {
- usdist_mm[i] = 0xffff;
- *usdist_sensors[i].sync_port &= ~usdist_sensors[i].sync_bv;
- *usdist_sensors[i].sync_ddr |= usdist_sensors[i].sync_bv;
- }
-}
-
-uint8_t
-usdist_update (void)
-{
- /* Current measuring sensor. */
- static uint8_t current;
- /* Number of cycles until the measure ends. */
- static uint8_t wait;
- /* Set to one once first cycle is done. */
- static uint8_t init;
- /* Time to measure? */
- if (wait == 0)
- {
- if (init)
- {
- /* Stop sensor. */
- *usdist_sensors[current].sync_port &=
- ~usdist_sensors[current].sync_bv;
- /* Read ADC value. */
- adc_start (usdist_sensors[current].adc);
- while (!adc_checkf ())
- ;
- uint16_t v = adc_read ();
- /* Our sensors return a value between 1 and 5 V proportional to
- * the distance between calibrated values. Ignore faulty sensors. */
- if (v <= 1024 / 5 / 4)
- usdist_mm[current] = 0xffff;
- else if (v <= 1024 / 5)
- usdist_mm[current] = USDIST_MM_MIN;
- else
- usdist_mm[current] = USDIST_MM_MIN
- + ((uint32_t) (v - 1024 / 5)
- * (USDIST_MM_MAX - USDIST_MM_MIN)
- / (4 * 1024 / 5));
- if (usdist_mm[current] >= USDIST_MM_TOO_FAR)
- usdist_mm[current] = 0xffff;
- /* Next. */
- current = (current + 1) % USDIST_NB;
- }
- init = 1;
- /* Prepare next measure. */
- *usdist_sensors[current].sync_port |=
- usdist_sensors[current].sync_bv;
- wait = USDIST_PERIOD_CYCLE;
- /* New mesure done. */
- return 1;
- }
- else
- {
- wait--;
- return 0;
- }
-}
-