/* getsamples.c */ /* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ * * Copyright (C) 2008 NĂ©lio Laranjeiro * * 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 "getsamples.h" #include "fsm.h" #include "trap.h" /* trap_* */ #include "io.h" /* _BV */ /** * 'Private' get samples data used internaly by the FSM. */ struct getsamples_data_t getsamples_data_; /* Start the get samples FSM. */ void getsamples_start (int16_t approach_angle, uint8_t sample_bitfield, uint8_t direction) { /* Set parameters */ getsamples_data_.approach_angle = approach_angle; getsamples_data_.sample_bitfield = sample_bitfield; getsamples_data_.direction = direction; /* Remove unhandled traps */ getsamples_data_.sample_bitfield &= (_BV (trap_count) - 1) & ~_BV (garbage); /* Start the get samples FSM */ fsm_init (&getsamples_fsm); fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_start); }