[tuxdroid-svn] r1191 - firmware/tuxcore/trunk

[Paul_R <c2m...@c2...>]

Author: Paul_R
Date: 2008-05-22 16:00:43 +0200 (Thu, 22 May 2008)
New Revision: 1191

Modified:
   firmware/tuxcore/trunk/global.h
   firmware/tuxcore/trunk/main.c
   firmware/tuxcore/trunk/motors.c
Log:
* Added the motor state status :
  Status_Position2 frame, last byte.
  - xxxxxxx1 : Spin left on 
  - xxxxxx1x : Spin right on
  - xxxxx1xx : Eyes on
  - xxxx1xxx : Mouth on
  - xxx1xxxx : Wings on


Modified: firmware/tuxcore/trunk/global.h
===================================================================
--- firmware/tuxcore/trunk/global.h	2008-05-22 13:40:54 UTC (rev 1190)
+++ firmware/tuxcore/trunk/global.h	2008-05-22 14:00:43 UTC (rev 1191)
@@ -103,19 +103,23 @@
  * gStatus.mot: Motors Status
  */
 
-/* gStatus.mot:[0] Spin motor
- *  xxxxxxx0 === Spin off
- *  xxxxxxx1 === Spin on */
-#define GSTATUS_MOT_SPIN      0x01
-/* gStatus.mot:[1] Eyes/Mouth motor
- *  xxxxxx0x === motor off
- *  xxxxxx1x === motor on */
-#define GSTATUS_MOT_EYES      0x02
-#define GSTATUS_MOT_MOUTH     0x02
-/* gStatus.mot:[2] Wings motor
- *  xxxxx0xx === Wings off
- *  xxxxx1xx === Wings on */
-#define GSTATUS_MOT_WINGS      0x04
+/* gStatus.mot:[0:1] Spin motor
+ *  xxxxxx00 === Spin off
+ *  xxxxxx01 === Spin right on 
+ *  xxxxxx10 === Spin left on
+ *  xxxxxx11 === undef / impossible */
+#define GSTATUS_MOT_SPINL      0x01
+#define GSTATUS_MOT_SPINR      0x02
+#define GSTATUS_MOT_SPIN_MK    0x03
+/* gStatus.mot:[2] Eyes/Mouth motor
+ *  xxxxx0xx === motor off
+ *  xxxxx1xx === motor on */
+#define GSTATUS_MOT_EYES      0x04
+#define GSTATUS_MOT_MOUTH     0x08
+/* gStatus.mot:[3] Wings motor
+ *  xxxx0xxx === Wings off
+ *  xxxx1xxx === Wings on */
+#define GSTATUS_MOT_WINGS     0x10
 
 /*
  * gStatus.ir: IR Status
@@ -166,7 +170,7 @@
     uint8_t batteryS;           /* Battery level status */
     uint8_t ir;                 /* IR RC5 code received from tux's remote */
     uint8_t pos;                /* Poitionning */
-    uint8_t mot;
+    uint8_t mot;		/* Motors states */
     uint8_t audio_play;
     uint8_t audio_status;
 }

Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2008-05-22 13:40:54 UTC (rev 1190)
+++ firmware/tuxcore/trunk/main.c	2008-05-22 14:00:43 UTC (rev 1191)
@@ -258,7 +258,8 @@
     queue_cmd_p(STATUS_PORTS_CMD, PINB, PINC, PIND);
     queue_cmd_p(STATUS_POSITION1_CMD, eyes_move_counter, mouth_move_counter,
                flippers_move_counter);
-    queue_cmd_p(STATUS_POSITION2_CMD, spin_move_counter, gStatus.pos, 0);
+    queue_cmd_p(STATUS_POSITION2_CMD, spin_move_counter, gStatus.pos, 
+                gStatus.mot);
     if (led_f)
     {
         led_f = false;

Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2008-05-22 13:40:54 UTC (rev 1190)
+++ firmware/tuxcore/trunk/motors.c	2008-05-22 14:00:43 UTC (rev 1191)
@@ -820,7 +820,7 @@
  */
 void stop_spinning(void)
 {
-    gStatus.mot &= ~GSTATUS_MOT_SPIN;
+    gStatus.mot &= ~GSTATUS_MOT_SPIN_MK;
     spin_move_counter = 0;
     stop_spin_motor();
 }
@@ -833,7 +833,7 @@
  */
 void spin_left(uint8_t const angle, uint8_t const pwm)
 {
-    gStatus.mot |= GSTATUS_MOT_SPIN;
+    gStatus.mot |= GSTATUS_MOT_SPINL;
     spin_move_counter = angle;
     /* If the rotation direction is changing and we are not stopped exactly on
      * the switch (position switch not pressed), we need to increment the angle
@@ -857,7 +857,7 @@
  */
 void spin_right(uint8_t const angle, uint8_t const pwm)
 {
-    gStatus.mot |= GSTATUS_MOT_SPIN;
+    gStatus.mot |= GSTATUS_MOT_SPINR;
     spin_move_counter = angle;
     /* If the rotation direction is changing and we are not stopped exactly on
      * the switch (position switch not pressed), we need to increment the angle