[tuxdroid-svn] r485 - firmware/tuxcore/trunk
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[tuxdroid-svn] r485 - firmware/tuxcore/trunk
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From: jaguarondi <c2m...@c2...> - 2007-09-06 07:24:37
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Author: jaguarondi
Date: 2007-09-06 09:24:35 +0200 (Thu, 06 Sep 2007)
New Revision: 485
Modified:
firmware/tuxcore/trunk/global.c
firmware/tuxcore/trunk/global.h
firmware/tuxcore/trunk/main.c
firmware/tuxcore/trunk/parser.c
firmware/tuxcore/trunk/standalone.c
Log:
* Cleanup: removed all production test related stuff. The test_mode variable is
now only used for the remote mode, so I renamed it remote_mode.
Modified: firmware/tuxcore/trunk/global.c
===================================================================
--- firmware/tuxcore/trunk/global.c 2007-09-05 15:24:47 UTC (rev 484)
+++ firmware/tuxcore/trunk/global.c 2007-09-06 07:24:35 UTC (rev 485)
@@ -28,9 +28,10 @@
/*
* Standalone behavior
*/
+/* remote mode to control tux from the remote control, XXX to be replaced with
+ * a better approach from the standalone behavior */
+uint8_t remote_mode = 0;
-uint8_t test_mode = BT_NO_TEST; /* normal mode */
-
/*
* General global registers
*/
Modified: firmware/tuxcore/trunk/global.h
===================================================================
--- firmware/tuxcore/trunk/global.h 2007-09-05 15:24:47 UTC (rev 484)
+++ firmware/tuxcore/trunk/global.h 2007-09-06 07:24:35 UTC (rev 485)
@@ -322,7 +322,7 @@
* Standalone behavior
*/
-extern uint8_t test_mode; /* normal mode */
+extern uint8_t remote_mode; /* normal mode */
/*
* General global registers
@@ -375,7 +375,6 @@
* Test modes
*/
-#define mb_test_condition (PINC & _BV(PC2))
#define sigout_set turnLeftLedOn
#define sigout_unset turnLeftLedOff
#define sigin_ini() {LED_PT &= ~LED_R_MK; LED_DDR &= ~LED_R_MK;} /* used as signal input */
Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c 2007-09-05 15:24:47 UTC (rev 484)
+++ firmware/tuxcore/trunk/main.c 2007-09-06 07:24:35 UTC (rev 485)
@@ -147,10 +147,6 @@
*/
int main(void)
{
- /* Prod tests condition check to enter mainboard test mode */
- if (mb_test_condition)
- test_mode = BT_MBTEST;
-
/* I/O initialization */
initPosSwitches();
initMotors();
@@ -162,7 +158,7 @@
/* I2C communication initialization */
i2cCommunicationInit();
- /* Enables IR receiver */
+ /* Enable IR receiver */
irGetRC5();
/*
@@ -199,37 +195,6 @@
/* Wait for standalone actions to be done. */
if ((cond_flags.sleep == COND_SLEEP) && !event_timer)
sleep();
-
- /*
- * Test and debug functions
- */
- /* IR test procedure */
- // {
- // while(1)
- // {
- // for (i=0; i<200;i++) _delay_ms (8);
- // irSendRC5(0x1F,0x3F);
- // }
- // }
- /* LDR test procedure */
- // {
- // while(1)
- // {
- // for (i=0; i<200;i++) _delay_ms (8);
- // getLight();
- // }
- // }
-
-#if (TEST_CHARGER)
- /* Test of the charger
- * Use eyes LED's to indicate charger status */
- {
- if (gStatus.sw & GSTATUS_CHARGER_MK)
- turnLedsOff();
- else
- turnLedsOn();
- }
-#endif
}
}
Modified: firmware/tuxcore/trunk/parser.c
===================================================================
--- firmware/tuxcore/trunk/parser.c 2007-09-05 15:24:47 UTC (rev 484)
+++ firmware/tuxcore/trunk/parser.c 2007-09-06 07:24:35 UTC (rev 485)
@@ -194,20 +194,6 @@
return;
}
- /* Test modes */
- else if (command[0] == TEST_MODE_CMD)
- {
- if (!audioIntBufIdx)
- {
- for (i = 0; i < 3; i++) /* forwards the command to the audio CPU */
- audioIntBuf[i] = command[i];
- audioIntBufIdx = 3;
- }
- /* and switch to test mode */
- test_mode = command[1]; /* tuxcore test mode is the first parameter */
- return;
- }
-
/* Version */
else if (command[0] == INFO_TUXCORE_CMD)
{
Modified: firmware/tuxcore/trunk/standalone.c
===================================================================
--- firmware/tuxcore/trunk/standalone.c 2007-09-05 15:24:47 UTC (rev 484)
+++ firmware/tuxcore/trunk/standalone.c 2007-09-06 07:24:35 UTC (rev 485)
@@ -205,19 +205,14 @@
else
setLeds(led_backup);
- if ((!test_mode) || (test_mode == BT_REMOTE))
+ /* Disable spinning when plugged */
+ if ((gStatus.sw & GSTATUS_POWERPLUGSW_MK))
{
- /* Disable spinning when plugged */
- if ((gStatus.sw & GSTATUS_POWERPLUGSW_MK))
- {
- stopSpin(); /* flush the spinning commands */
- spinPosCnt = 0;
- }
-
- /* Charging start notification */
+ stopSpin(); /* flush the spinning commands */
+ spinPosCnt = 0;
}
- if (test_mode == BT_REMOTE)
+ if (remote_mode)
{
/* BT_REMOTE: check buttons with leds */
if (gStatus.
@@ -249,10 +244,10 @@
/* Entering remote mode */
if (ir_command == K_STARTVOIP)
{
- if (test_mode != BT_REMOTE)
- test_mode = BT_REMOTE;
+ if (!remote_mode)
+ remote_mode = 1;
else
- test_mode = BT_NO_TEST;
+ remote_mode = 0;
}
}
@@ -264,7 +259,7 @@
alt_mode = 0;
/* Remote control mode */
- if (test_mode == BT_REMOTE)
+ if (remote_mode)
{
switch (ir_command)
{
@@ -327,196 +322,7 @@
break;
}
}
-
}
-
- /* Test mode */
- if (test_mode == BT_MBTEST)
- {
- volatile uint16_t i, j;
-
- /* Use led lines as communication signal */
- /* LED_R is still active low */
-
- /* Release the signal input */
- sigin_ini();
-
- /* #0 */
- for (i = 0; i < 0xFFF; i++) ; /* keep the negative pulse to synchronize with the tester */
- sigout_set(); /* signal test mode entered */
- /* #1 */
- while (!sigin) ; /* synchronize with the tester */
-
- cli();
- /* Check capacitors */
- PORTD = 0x00;
- DDRD = 0xFF;
- PORTB = 0x00;
- DDRB = 0xFF;
- PORTC &= ~_BV(PC1);
- DDRC |= _BV(PC1);
- for (i = 0; i < 10; i++)
- _delay_ms(5);
- DDRD = 0x00;
- DDRB = 0x00;
- DDRC &= ~_BV(PC1);
- PORTD |= (_BV(PD6) | _BV(PD7) | _BV(PD3));
- PORTB |= (_BV(PB3) | _BV(PB4));
- PORTC |= _BV(PC1);
- _delay_ms(1);
- if (PIND & (_BV(PD6) | _BV(PD7) | _BV(PD3)))
- error(1);
- if (PINB & (_BV(PB3) | _BV(PB4)))
- error(2);
- if (PINC & _BV(PC1))
- error(3);
-
- /* Check the shortcuts here */
- /* PORTB */
- PORTB = 0xFF; /* all pull-up */
- DDRB = 0xFF;
- DDRC &= ~0x03; /* check only PC0 and PC1 */
- PORTC |= 0x03; /* all pull-up */
- DDRD = 0x00;
- PORTD = 0xFF; /* all pull-up */
- for (j = 0; j < 5; j++)
- _delay_ms(5);
- DDRB = 0x00;
- while (PINB != 0xFF) ;
- while ((PINC & 0x03) != 0x03) ;
- while (PIND != 0xFF) ;
- for (i = 0; i < 8; i++)
- {
- PORTB = ~_BV(i);
- DDRB = _BV(i);
- if ((i == 3) || (i == 4) || (i == 7))
- for (j = 0; j < 10; j++)
- _delay_ms(5);
- while (PINB != (uint8_t) (~_BV(i))) ;
- while ((PINC & 0x03) != 0x03) ;
- while (PIND != 0xFF) ;
- PORTB |= _BV(i);
- if ((i == 3) || (i == 4) || (i == 7))
- for (j = 0; j < 10; j++)
- _delay_ms(5);
- }
- PORTB = 0xFF;
- /* PORTC */
- for (i = 0; i < 2; i++)
- {
- PORTC &= ~_BV(i);
- DDRC |= _BV(i);
- while (PINB != 0xFF) ;
- while ((PINC & 0x03) != ((~_BV(i)) & 0x03)) ;
- while (PIND != 0xFF) ;
- PORTC |= _BV(i);
- DDRC &= ~_BV(i);
- }
- /* PORTD */
- for (i = 0; i < 8; i++)
- {
- PORTD = ~_BV(i);
- DDRD = _BV(i);
- while (PINB != 0xFF) ;
- while ((PINC & 0x03) != 0x03) ;
- while (PIND != (uint8_t) (~_BV(i))) ;
- }
-
- PORTB = 0x00;
- DDRB = 0x00;
- PORTD = 0x00;
- DDRD = 0x00;
- initMotors();
- CHARGER_INH_DDR |= CHARGER_INH_MK;
-
- /* Set the audio CPU in AT_MBTEST mode to check the flash and audio */
- audioIntBuf[0] = TEST_MODE_CMD;
- audioIntBuf[2] = AT_MBTEST;
- audioIntBufIdx = 3;
- mb_test_flag = 0;
-
- test_mode = BT_MBTEST0; /* go to next state */
- /* #2 */
- sigout_unset();
- while (sigin) ; /* synchronize with the tester */
- }
- else if (test_mode == BT_MBTEST0) /* check the I/O of the sound */
- {
- if (gStatus.mic == 0xFF)
- {
- cli(); /* disable interrupts because the ADC ISR can affect PC0 */
- PORTC &= ~_BV(PC0);
- while (PINC & _BV(PC0)) ; /* check the IR power connection */
- sei();
- /* #3 */
- sigout_set();
- while (!sigin) ; /* synchronize with the tester */
- sigout_unset();
- while (sigin) ; /* synchronize with the tester */
-
- test_mode = BT_MBTEST1; /* go to next state */
- }
- }
- else if (test_mode == BT_MBTEST1) /* check the flash */
- {
- if (gStatus.bat == 0xFF)
- mb_test_flag = 1;
- else if (gStatus.bat == 0xFE) /* flash failed */
- mb_test_flag = 0;
- if ((gStatus.sw & GSTATUS_CHARGER_MK) && (gStatus.sw & STATUS_POWERPLUGSW_MK) && mb_test_flag) /* if not charging, not plugged and flash OK */
- {
- /* #4 */
- sigout_set();
- while (!sigin) ; /* synchronize with the tester */
- test_mode = BT_MBTEST2; /* go to next state */
- }
- }
- else if (test_mode == BT_MBTEST2) /* check the motors */
- {
- TIMSK2 = 0;
- runEyes();
- sigout_unset();
- while (sigin) ; /* synchronize with the tester */
- runIEyes();
- sigout_set();
- while (!sigin) ; /* synchronize with the tester */
- stopEyes();
- runWingsFw();
- sigout_unset();
- while (sigin) ; /* synchronize with the tester */
- runWingsBw();
- sigout_set();
- while (!sigin) ; /* synchronize with the tester */
- stopWings();
- runSpinRight();
- sigout_unset();
- while (sigin) ; /* synchronize with the tester */
- runSpinLeft();
- sigout_set();
- while (!sigin) ; /* synchronize with the tester */
- stopSpin();
-
- TIMSK2 = _BV(OCIE2A);
- test_mode = BT_MBTEST3; /* go to next state */
- }
- else if (test_mode == BT_MBTEST3)
- {
- if (!(gStatus.sw & GSTATUS_CHARGER_MK) && !(gStatus.sw & STATUS_POWERPLUGSW_MK)) /* if charging OK and plugged */
- {
- /* #5 */
- sigout_unset();
- while (sigin) ; /* synchronize with the tester */
- while (!sigin) ; /* wait signal to turn the IR on */
- turnIrOn(); /* this should be the end of the test */
- test_mode = BT_NO_TEST; /* exit test mode */
- }
- }
-
- /* Test mode */
- if (test_mode == BT_TEST_ALL)
- {
- }
-
}
void error(uint8_t en)
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