[tuxdroid-svn] r516 - firmware/tuxcore/trunk

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

Author: jaguarondi
Date: 2007-09-12 14:58:49 +0200 (Wed, 12 Sep 2007)
New Revision: 516

Modified:
   firmware/tuxcore/trunk/main.c
   firmware/tuxcore/trunk/motors.c
   firmware/tuxcore/trunk/motors.h
Log:
* Deleted mouth_pos as it's not going to be used.

* Changed low level functions from defines to static inline and moved them to
  their corresponding group.

* Reordered the configuration functions.


Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2007-09-12 12:39:37 UTC (rev 515)
+++ firmware/tuxcore/trunk/main.c	2007-09-12 12:58:49 UTC (rev 516)
@@ -187,8 +187,8 @@
         if (t100ms_flag)
         {
             t100ms_flag = FALSE;
-            updateStatusFlag = 1; /* XXX to move */
-            if (event_timer) /* XXX to move */
+            updateStatusFlag = 1;
+            if (event_timer)
             {
                 event_timer--;
                 event_manager_flag = 1;

Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2007-09-12 12:39:37 UTC (rev 515)
+++ firmware/tuxcore/trunk/motors.c	2007-09-12 12:58:49 UTC (rev 516)
@@ -55,6 +55,18 @@
  * up to down and from down to up. */
 #define FLIPPERS_RESETTIMER_HYST 0x10
 
+/** Number of periods remaining before stopping the eyes.
+ * Normally used when braking, to stop the motor after a short period of
+ * inversion. */
+static uint8_t eyes_stop_delay;
+/** Number of movements remaining before stopping the flippers. */
+uint8_t eyes_move_counter;
+/** Number of periods remaining before stopping the mouth.
+ * Normally used when braking, to stop the motor after a short period of
+ * inversion. */
+static uint8_t mouth_stop_delay;
+/** Number of movements remaining before stopping the mouth. */
+uint8_t mouth_move_counter;
 /** Number of periods remaining before stopping the flippers.
  * Normally used when braking, to stop the motor after a short period of
  * inversion. */
@@ -68,18 +80,6 @@
 uint8_t flippers_timer;
 /** Period taken by the previous movement of the flippers. */
 uint8_t flippers_revious_timer;
-/** Number of periods remaining before stopping the eyes.
- * Normally used when braking, to stop the motor after a short period of
- * inversion. */
-static uint8_t eyes_stop_delay;
-/** Number of movements remaining before stopping the flippers. */
-uint8_t eyes_move_counter;
-/** Number of periods remaining before stopping the mouth.
- * Normally used when braking, to stop the motor after a short period of
- * inversion. */
-static uint8_t mouth_stop_delay;
-/** Number of movements remaining before stopping the mouth. */
-uint8_t mouth_move_counter;
 /** Number of periods remaining before stopping the rotation.
  * Normally used when braking, to stop the motor after a short period of
  * inversion. */
@@ -91,30 +91,88 @@
 /** Spinning direction */
 static uint8_t spin_direction;
 
-uint8_t mouth_pos; /* XXX delete this */
-
 /** PWM mask register applied on the port on a regular basis. */
 uint8_t portB_PWM_mask;
 
 /** 
- * \name Low level motor control
- * These functions access the motor I/O port.
+ * \name Module configuration
+ * These functions initialize the motors and switches I/O ports for normal and
+ * sleep mode.
  *  @{ */
-/** Stop the eyes motor. */
-#define stop_eyes_motor() {MOT_EYES_PT &= ~(MOT_EYES_MK | MOT_IEYES_MK);}
+/** \ingroup movements */
+/**
+   \brief Initialize the position switches for normal operation.
+   Initialize all I/O of the position switches as input with internal pull-up.
+ */
+void initPosSwitches(void)
+{
+    PSW_WINGS_DDR &= ~PSW_WINGS_MK;
+    PSW_WINGS_PT |= PSW_WINGS_MK;
+    PSW_EYES_DDR &= ~PSW_EYES_MK;
+    PSW_EYES_PT |= PSW_EYES_MK;
+    PSW_MOUTH_DDR &= ~PSW_MOUTH_MK;
+    PSW_MOUTH_PT |= PSW_MOUTH_MK;
+    PSW_SPIN_DDR &= ~PSW_SPIN_MK;
+    PSW_SPIN_PT |= PSW_SPIN_MK;
+}
 
-/** Start the eyes motor. */
-#define run_eyes_motor() {(MOT_EYES_PT &= ~MOT_IEYES_MK); \
-                   (MOT_EYES_PT |= MOT_EYES_MK);}
-/** Invert the eyes motor. */
-#define invert_eyes_motor() {(MOT_EYES_PT &= ~MOT_EYES_MK); \
-                    (MOT_EYES_PT |= MOT_IEYES_MK);}
+/**
+   \brief Initializes the position switches for minimal power consumption.
+   All pins have internal pull-up and the switch shorts the pin low so to avoid
+   undefined states, we must set all pins as strong low.
+ */
+void closePosSwitches(void)
+{
+    PSW_WINGS_PT &= ~PSW_WINGS_MK;
+    PSW_WINGS_DDR |= PSW_WINGS_MK;
+    PSW_EYES_PT &= ~PSW_EYES_MK;
+    PSW_EYES_DDR |= PSW_EYES_MK;
+    PSW_MOUTH_PT &= ~PSW_MOUTH_MK;
+    PSW_MOUTH_DDR |= PSW_MOUTH_MK;
+    PSW_SPIN_PT &= ~PSW_SPIN_MK;
+    PSW_SPIN_DDR |= PSW_SPIN_MK;
+}
+
+/**
+   \brief Initalizes the motors for normal operation.
+   This sets all motor I/O as output
+ */
+void initMotors(void)
+{
+    MOT_EYES_DDR |= MOT_EYES_MK;
+    MOT_MOUTH_DDR |= MOT_MOUTH_MK;
+    MOT_WINGS_FW_DDR |= MOT_WINGS_FW_MK;
+    MOT_WINGS_BW_DDR |= MOT_WINGS_BW_MK;
+    MOT_SPIN_DDR |= MOT_SPIN_MK;
+}
 /*! @} */
 
 /** 
  * \name Eyes functions
  *  @{ */
+/** \brief Low level access to stop the eyes motor. */
+static inline void stop_eyes_motor(void) __attribute__ ((always_inline));
+void stop_eyes_motor(void)
+{
+    MOT_EYES_PT &= ~(MOT_EYES_MK | MOT_IEYES_MK);
+}
 
+/** \brief Low level access to start the eyes motor. */
+static inline void run_eyes_motor(void) __attribute__ ((always_inline));
+void run_eyes_motor(void)
+{
+    (MOT_EYES_PT &= ~MOT_IEYES_MK);
+    (MOT_EYES_PT |= MOT_EYES_MK);
+}
+
+/** \brief Low level access to invert the eyes motor. */
+static inline void invert_eyes_motor(void) __attribute__ ((always_inline));
+void invert_eyes_motor(void)
+{
+    (MOT_EYES_PT &= ~MOT_EYES_MK);
+    (MOT_EYES_PT |= MOT_IEYES_MK);
+}
+
 /**
    \brief Stop the eyes
    \ingroup eyes
@@ -264,12 +322,6 @@
     /* We only count when the switch is pushed, not released. */
     if (~PSW_MOUTH_PIN & PSW_MOUTH_MK)
     {
-        if (~PSW_MOUTH_PIN & PSW_MOUTH_O_MK)
-            if (mouth_pos == CLOSE) /* XXX can we delete this line? */
-                mouth_pos = OPEN;
-        if (~PSW_MOUTH_PIN & PSW_MOUTH_C_MK)
-            if (mouth_pos == OPEN) /* XXX can we delete this line? */
-                mouth_pos = CLOSE;
         if (mouth_move_counter)
         {
             mouth_move_counter--;
@@ -378,62 +430,6 @@
     }
 }
 
-/*
- * POSITION SWITCHES
- * Init as pull-up input
- */
-
-void initPosSwitches(void)
-{
-    /* flipper switch */
-    PSW_WINGS_DDR &= ~PSW_WINGS_MK;
-    PSW_WINGS_PT |= PSW_WINGS_MK;
-    /* eyes switches */
-    PSW_EYES_DDR &= ~PSW_EYES_MK;
-    PSW_EYES_PT |= PSW_EYES_MK;
-    /* mouth switches */
-    PSW_MOUTH_DDR &= ~PSW_MOUTH_MK;
-    PSW_MOUTH_PT |= PSW_MOUTH_MK;
-    /* spin switch */
-    PSW_SPIN_DDR &= ~PSW_SPIN_MK;
-    PSW_SPIN_PT |= PSW_SPIN_MK;
-}
-
-/*
- * Set position switches for minimal power consumption.
- *
- * All pins have internal pull-up and the switch shorts the pin low so to avoid
- * undefined states, we must set all pins as strong low.
- */
-void closePosSwitches(void)
-{
-    /* flipper switch */
-    PSW_WINGS_PT &= ~PSW_WINGS_MK;
-    PSW_WINGS_DDR |= PSW_WINGS_MK;
-    /* eyes switches */
-    PSW_EYES_PT &= ~PSW_EYES_MK;
-    PSW_EYES_DDR |= PSW_EYES_MK;
-    /* mouth switches */
-    PSW_MOUTH_PT &= ~PSW_MOUTH_MK;
-    PSW_MOUTH_DDR |= PSW_MOUTH_MK;
-    /* spin switch */
-    PSW_SPIN_PT &= ~PSW_SPIN_MK;
-    PSW_SPIN_DDR |= PSW_SPIN_MK;
-}
-
-/*
- * Set motors I/O as output
- */
-
-void initMotors(void)
-{
-    MOT_EYES_DDR |= MOT_EYES_MK;
-    MOT_MOUTH_DDR |= MOT_MOUTH_MK;
-    MOT_WINGS_FW_DDR |= MOT_WINGS_FW_MK;
-    MOT_WINGS_BW_DDR |= MOT_WINGS_BW_MK;
-    MOT_SPIN_DDR |= MOT_SPIN_MK;
-}
-
 /**
    \brief Start waving the flippers up and down \ingroup flippers \param cnt
    number of movements before the flippers will stop \param pwm pwm value

Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h	2007-09-12 12:39:37 UTC (rev 515)
+++ firmware/tuxcore/trunk/motors.h	2007-09-12 12:58:49 UTC (rev 516)
@@ -67,26 +67,27 @@
 enum spin_direction
 { LEFT, RIGHT };
 
-/* counters to stop eye/mouth and flippers at timer int */
+/** \ingroup eyes */
+extern uint8_t eyes_move_counter;
+/** \ingroup mouth */
+extern uint8_t mouth_move_counter;
+/** \ingroup flippers */
 extern uint8_t flippers_move_counter, flippers_PWM;
-extern uint8_t eyes_move_counter;
-extern uint8_t mouth_move_counter, mouth_pos;
+/** \ingroup spin */
 extern uint8_t spin_move_counter, spin_PWM;
 
 /* pwm mask registers */
 extern uint8_t portB_PWM_mask;
 
-void initMotors(void);
-
 /*
- * POSITION SWITCHES
- * Init as pull-up input
+ * Module configuration
  */
 void initPosSwitches(void);
 void closePosSwitches(void);
+void initMotors(void);
 
 /*
- * Basic movements
+ * Movements
  */
 extern void stop_eyes(void);
 extern void blink_eyes(uint8_t cnt);