From 51b917f7994d6d53fde11263ba4da3470fd2a6c4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 1 Jun 2011 15:26:22 +0200 Subject: digital/io-hub, host/simu: add codebar --- digital/io-hub/src/robospierre/codebar.avr.c | 64 ++++++++++++++++++++++++++++ 1 file changed, 64 insertions(+) create mode 100644 digital/io-hub/src/robospierre/codebar.avr.c (limited to 'digital/io-hub/src/robospierre/codebar.avr.c') 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; +} + -- cgit v1.2.3