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Diffstat (limited to 'AT91SAM7S256/Source/c_input.c')
-rw-r--r--AT91SAM7S256/Source/c_input.c284
1 files changed, 63 insertions, 221 deletions
diff --git a/AT91SAM7S256/Source/c_input.c b/AT91SAM7S256/Source/c_input.c
index 47ca7c0..2786326 100644
--- a/AT91SAM7S256/Source/c_input.c
+++ b/AT91SAM7S256/Source/c_input.c
@@ -69,12 +69,12 @@ enum
const SWORD TempConvTable[] =
{
- 1500, 1460, 1430, 1400, 1380, 1360, 1330, 1310, 1290, 1270, 1250, 1230, 1220, 1200, 1190, 1170,
+/* 1500, 1460, 1430, 1400, 1380, 1360, 1330, 1310, 1290, 1270, 1250, 1230, 1220, 1200, 1190, 1170,
1160, 1150, 1140, 1130, 1110, 1100, 1090, 1080, 1070, 1060, 1050, 1040, 1030, 1020, 1010, 1000,
994, 988, 982, 974, 968, 960, 954, 946, 940, 932, 926, 918, 912, 906, 900, 894,
890, 884, 878, 874, 868, 864, 858, 854, 848, 844, 838, 832, 828, 822, 816, 812,
808, 802, 798, 794, 790, 786, 782, 780, 776, 772, 768, 764, 762, 758, 754, 750,
- 748, 744, 740, 736, 732, 730, 726, 722, 718, 716, 712, 708, 704, 700, 696, 694,
+ 748, 744, 740, 736, 732, 730, 726, 722, 718, 716, 712, 708, 704,*/ 700, 696, 694,
690, 688, 684, 682, 678, 674, 672, 668, 666, 662, 660, 656, 654, 650, 648, 644,
642, 640, 638, 634, 632, 630, 628, 624, 622, 620, 616, 614, 612, 610, 608, 604,
602, 600, 598, 596, 592, 590, 588, 586, 584, 582, 580, 578, 576, 574, 572, 570,
@@ -114,13 +114,13 @@ const SWORD TempConvTable[] =
-98, -98, -100, -102, -104, -106, -106, -108, -110, -112, -114, -114, -116, -118, -120, -120,
-122, -124, -126, -128, -130, -130, -132, -134, -136, -138, -140, -142, -144, -146, -146, -148,
-150, -152, -154, -156, -158, -160, -162, -164, -166, -166, -168, -170, -172, -174, -176, -178,
- -180, -182, -184, -186, -188, -190, -192, -194, -196, -196, -198, -200, -202, -204, -206, -208,
+ -180, -182, -184, -186, -188, -190, -192, -194, -196, -196, -198, -200/*,-202, -204, -206, -208,
-210, -212, -214, -216, -218, -220, -224, -226, -228, -230, -232, -234, -236, -238, -242, -246,
-248, -250, -254, -256, -260, -262, -264, -268, -270, -274, -276, -278, -282, -284, -286, -290,
-292, -296, -298, -300, -306, -308, -312, -316, -320, -324, -326, -330, -334, -338, -342, -344,
-348, -354, -358, -362, -366, -370, -376, -380, -384, -388, -394, -398, -404, -410, -416, -420,
-428, -432, -440, -446, -450, -460, -468, -476, -484, -492, -500, -510, -524, -534, -546, -560,
- -572, -588, -600, -630, -656, -684, -720, -770
+ -572, -588, -600, -630, -656, -684, -720, -770 */
};
static IOMAPINPUT IOMapInput;
@@ -145,7 +145,7 @@ void cInputCalcSensorValue(UWORD NewSensorRaw, UWORD *pOldSensorRaw, SWORD
UBYTE *pBoolean, UBYTE *pDebounce, UBYTE *pSampleCnt,
UBYTE *LastAngle, UBYTE *pEdgeCnt, UBYTE Slope,
UBYTE Mode);
-void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType);
+void cInputSetupType(UBYTE Port, UBYTE newType, UBYTE OldType);
void cInputSetupCustomSensor(UBYTE Port);
void cInputCalcSensorValues(UBYTE No);
UBYTE cInputInitColorSensor(UBYTE Port, UBYTE *pInitStatus);
@@ -226,8 +226,10 @@ void cInputCtrl(void)
for (Tmp = 0; Tmp < NO_OF_INPUTS; Tmp++)
{
+ UBYTE sType = IOMapInput.Inputs[Tmp].SensorType;
+ UBYTE oldType = VarsInput.OldSensorType[Tmp];
- if ((IOMapInput.Inputs[Tmp].SensorType) != (VarsInput.OldSensorType[Tmp]))
+ if (sType != oldType)
{
/* Clear all variables for this sensor */
@@ -238,10 +240,21 @@ void cInputCtrl(void)
VarsInput.ColorStatus &= ~(0x01<<Tmp);
memset(&(VarsInput.VarsColor[Tmp]),0 ,sizeof(VarsInput.VarsColor[Tmp]));
+ VarsInput.InvalidTimer[Tmp] = INVALID_RELOAD_NORMAL;
+ /* If old type is color sensor in color lamp mode then turn off leds */
+ if ((sType == NO_SENSOR) &&
+ (oldType == COLORRED || oldType == COLORGREEN ||
+ oldType == COLORBLUE || oldType == COLORFULL ||
+ oldType == COLOREXIT))
+ {
+ VarsInput.InvalidTimer[Tmp] = INVALID_RELOAD_COLOR;
+ IOMapInput.Inputs[Tmp].SensorType = COLOREXIT;
+ sType = COLOREXIT;
+ }
/* Setup the pins for the new sensortype */
- cInputSetupType(Tmp, &(IOMapInput.Inputs[Tmp].SensorType), VarsInput.OldSensorType[Tmp]);
+ cInputSetupType(Tmp, sType, oldType);
IOMapInput.Inputs[Tmp].InvalidData = INVALID_DATA;
- VarsInput.OldSensorType[Tmp] = IOMapInput.Inputs[Tmp].SensorType;
+ VarsInput.OldSensorType[Tmp] = sType;
}
else
{
@@ -250,12 +263,9 @@ void cInputCtrl(void)
/* A type change has been carried out earlier - waiting for valid data */
/* The color sensor requires special startup sequence with communication */
- if (((IOMapInput.Inputs[Tmp].SensorType) == COLORFULL) ||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLORRED) ||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLORGREEN)||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLORBLUE) ||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLOREXIT) ||
- ((IOMapInput.Inputs[Tmp].SensorType) == COLORNONE))
+ if ((sType == COLORFULL) || (sType == COLORRED) ||
+ (sType == COLORGREEN)|| (sType == COLORBLUE) ||
+ (sType == COLOREXIT) || (sType == COLORNONE))
{
cInputCalcSensorValues(Tmp);
}
@@ -287,158 +297,58 @@ void cInputCtrl(void)
void cInputCalcSensorValues(UBYTE No)
{
+ UBYTE sType = IOMapInput.Inputs[No].SensorType;
- switch(IOMapInput.Inputs[No].SensorType)
+ switch(sType)
{
case SWITCH:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- }
- break;
-
case TEMPERATURE:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- if (InputVal < 290)
- {
- InputVal = 290;
- }
- else
- {
- if (InputVal > 928)
- {
- InputVal = 928;
- }
- }
- InputVal = TempConvTable[(InputVal) - 197];
- InputVal = InputVal + 200;
- InputVal = (UWORD)(((SLONG)InputVal * (SLONG)1023)/(SLONG)900);
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- }
- break;
-
case REFLECTION:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcFullScale(&InputVal, REFLECTIONSENSORMIN, REFLECTIONSENSORPCTDYN, TRUE);
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- }
- break;
-
case ANGLE:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
- }
- break;
-
- /* Dual case intended */
case LIGHT_ACTIVE:
case LIGHT_INACTIVE:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcFullScale(&InputVal, NEWLIGHTSENSORMIN, NEWLIGHTSENSORPCTDYN, TRUE);
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
-
- }
- break;
-
- /* Dual case intended */
case SOUND_DB:
case SOUND_DBA:
- {
- UWORD InputVal;
-
- dInputGetRawAd(&InputVal, No);
- IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcFullScale(&InputVal, NEWSOUNDSENSORMIN, NEWSOUNDSENSORPCTDYN, TRUE);
- cInputCalcSensorValue( InputVal,
- &(IOMapInput.Inputs[No].SensorRaw),
- &(IOMapInput.Inputs[No].SensorValue),
- &(IOMapInput.Inputs[No].SensorBoolean),
- &(VarsInput.InputDebounce[No]),
- &(VarsInput.SampleCnt[No]),
- &(VarsInput.LastAngle[No]),
- &(VarsInput.EdgeCnt[No]),
- ((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
- ((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
-
- }
- break;
-
case CUSTOM:
{
UWORD InputVal;
- /* Setup and read digital IO */
- cInputSetupCustomSensor(No);
- dInputRead0(No, &(IOMapInput.Inputs[No].DigiPinsIn));
- dInputRead1(No, &(IOMapInput.Inputs[No].DigiPinsIn));
-
+ if (sType == CUSTOM) {
+ /* Setup and read digital IO */
+ cInputSetupCustomSensor(No);
+ dInputRead0(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+ dInputRead1(No, &(IOMapInput.Inputs[No].DigiPinsIn));
+ }
+
dInputGetRawAd(&InputVal, No);
IOMapInput.Inputs[No].ADRaw = InputVal;
- cInputCalcFullScale(&InputVal, IOMapInput.Inputs[No].CustomZeroOffset, IOMapInput.Inputs[No].CustomPctFullScale, FALSE);
+
+ if (sType == REFLECTION)
+ {
+ cInputCalcFullScale(&InputVal, REFLECTIONSENSORMIN, REFLECTIONSENSORPCTDYN, TRUE);
+ }
+ else if (sType == TEMPERATURE)
+ {
+ if (InputVal < 290)
+ InputVal = 290;
+ else if (InputVal > 928)
+ InputVal = 928;
+ InputVal = TempConvTable[(InputVal) - /*197*/ 290];
+ InputVal = InputVal + 200;
+ InputVal = (UWORD)(((SLONG)InputVal * (SLONG)1023)/(SLONG)900);
+ }
+ else if (sType == LIGHT_ACTIVE || sType == LIGHT_INACTIVE)
+ {
+ cInputCalcFullScale(&InputVal, NEWLIGHTSENSORMIN, NEWLIGHTSENSORPCTDYN, TRUE);
+ }
+ else if (sType == SOUND_DB || sType == SOUND_DBA)
+ {
+ cInputCalcFullScale(&InputVal, NEWSOUNDSENSORMIN, NEWSOUNDSENSORPCTDYN, TRUE);
+ }
+ else if (sType == CUSTOM)
+ {
+ cInputCalcFullScale(&InputVal, IOMapInput.Inputs[No].CustomZeroOffset, IOMapInput.Inputs[No].CustomPctFullScale, FALSE);
+ }
cInputCalcSensorValue( InputVal,
&(IOMapInput.Inputs[No].SensorRaw),
&(IOMapInput.Inputs[No].SensorValue),
@@ -449,11 +359,10 @@ void cInputCalcSensorValues(UBYTE No)
&(VarsInput.EdgeCnt[No]),
((IOMapInput.Inputs[No].SensorMode) & SLOPEMASK),
((IOMapInput.Inputs[No].SensorMode) & MODEMASK));
-
}
break;
- /* Tripple case intended */
+ /* Triple case intended */
case LOWSPEED:
case LOWSPEED_9V:
case HIGHSPEED:
@@ -1100,29 +1009,10 @@ void cInputCalcFullScale(UWORD *pRawVal, UWORD ZeroPointOffset, UBYTE PctFu
}
-void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType)
+void cInputSetupType(UBYTE Port, UBYTE newType, UBYTE OldType)
{
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_NORMAL;
-
- /* If old type is color sensor in color lamp mode then turn off leds */
- switch (OldType)
- {
- case COLORRED:
- case COLORGREEN:
- case COLORBLUE:
- case COLORFULL:
- case COLOREXIT:
- {
- if (NO_SENSOR == *pType)
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- *pType = COLOREXIT;
- }
- }
- break;
- }
- switch(*pType)
+ switch(newType)
{
case NO_SENSOR:
case SWITCH:
@@ -1135,13 +1025,6 @@ void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType)
break;
case REFLECTION:
- {
- dInputSetActive(Port);
- dInputClearDigi0(Port);
- dInputClearDigi1(Port);
- }
- break;
-
case ANGLE:
{
dInputSetActive(Port);
@@ -1215,50 +1098,9 @@ void cInputSetupType(UBYTE Port, UBYTE *pType, UBYTE OldType)
break;
case COLORFULL:
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- dInputSetInactive(Port);
- dInputSetDigi0(Port);
- dInputSetDirInDigi1(Port);
- IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
- VarsInput.VarsColor[Port].ColorInitState = 0;
-
- }
- break;
-
case COLORRED:
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- dInputSetInactive(Port);
- dInputSetDigi0(Port);
- dInputSetDirInDigi1(Port);
- IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
- VarsInput.VarsColor[Port].ColorInitState = 0;
- }
- break;
-
case COLORGREEN:
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- dInputSetInactive(Port);
- dInputSetDigi0(Port);
- dInputSetDirInDigi1(Port);
- IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
- VarsInput.VarsColor[Port].ColorInitState = 0;
- }
- break;
-
case COLORBLUE:
- {
- VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;
- dInputSetInactive(Port);
- dInputSetDigi0(Port);
- dInputSetDirInDigi1(Port);
- IOMapInput.Colors[Port].CalibrationState = SENSORCAL;
- VarsInput.VarsColor[Port].ColorInitState = 0;
- }
- break;
-
case COLORNONE:
{
VarsInput.InvalidTimer[Port] = INVALID_RELOAD_COLOR;