[tuxdroid-svn] r520 - firmware/tuxcore/trunk

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

Author: jaguarondi
Date: 2007-09-13 08:32:43 +0200 (Thu, 13 Sep 2007)
New Revision: 520

Modified:
   firmware/tuxcore/trunk/hardware.h
   firmware/tuxcore/trunk/main.c
   firmware/tuxcore/trunk/motors.c
   firmware/tuxcore/trunk/motors.h
Log:
* Merged initialization of position switches, motors and interrupts in the same
  init function.

* Cleanup.


Modified: firmware/tuxcore/trunk/hardware.h
===================================================================
--- firmware/tuxcore/trunk/hardware.h	2007-09-12 14:53:05 UTC (rev 519)
+++ firmware/tuxcore/trunk/hardware.h	2007-09-13 06:32:43 UTC (rev 520)
@@ -71,13 +71,13 @@
 /** Spin switch DDR. */
 #define PSW_SPIN_DDR DDRD
 /** Flippers position switch PIN. */
-#define PSW_WINGS_PIN PINC
+#define PSW_FLIPPERS_PIN PINC
 /** Flippers position switch PORT. */
-#define PSW_WINGS_PT PORTC
+#define PSW_FLIPPERS_PT PORTC
 /** Flippers position switch DDR. */
-#define PSW_WINGS_DDR DDRC
+#define PSW_FLIPPERS_DDR DDRC
 /** Flippers position switch mask. */
-#define PSW_WINGS_MK _BV(PC1)
+#define PSW_FLIPPERS_MK _BV(PC1)
 /** Mouth position switches PIN. */
 #define PSW_MOUTH_PIN PINB
 /** Mouth position switches PORT. */

Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2007-09-12 14:53:05 UTC (rev 519)
+++ firmware/tuxcore/trunk/main.c	2007-09-13 06:32:43 UTC (rev 520)
@@ -140,9 +140,8 @@
  */
 int main(void)
 {
-    /* I/O initialization */
-    initPosSwitches();
-    initMotors();
+    /* Initialization */
+    init_movements();
     initIR();
     main_tick_init();
     initIO();
@@ -243,23 +242,6 @@
     /* Set output for Led's */
     LED_DDR |= LED_MK;
 
-    /* Enable 'Pin change interrupt 0' for mouth position switches */
-    PCMSK0 = PSW_MOUTH_MK;
-    PCICR |= _BV(PCIE0);
-
-    /* Enable 'Pin change interrupt 1' for wings position switch */
-    PCMSK1 = PSW_WINGS_MK;
-    PCICR |= _BV(PCIE1);
-
-    /* Enable 'Pin change interrupt 2' for eyes position switches */
-    PCMSK2 = PSW_EYES_C_MK;
-    PCICR |= _BV(PCIE2);
-
-    /* Enable 'INT1 interrupt' for spin position switch in falling edge mode
-     * and 'INT0 interrupt' for IR receiver in falling edge mode */
-    EICRA = _BV(ISC11);         // | _BV(ISC01);
-    EIMSK = _BV(INT1);          // | _BV(INT0);
-
     /* Enable ADC, select ADC clock = F_CPU / 128 (i.e. 16 Hz)
      * Single conversion mode
      */
@@ -355,7 +337,7 @@
     cli();
     led_bak = readLeds();
     closeIO();
-    closePosSwitches();
+    powersave_movements();
     stopSpin();
     stop_mouth();
     stop_flippers();
@@ -378,7 +360,7 @@
     PRR = PRR_bak;
     setLeds(led_bak); /* restore leds status */
     i2cCommunicationInit();
-    initPosSwitches();
+    init_movements();
     initIO();
 
     /* Trigger the post-sleep event */

Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2007-09-12 14:53:05 UTC (rev 519)
+++ firmware/tuxcore/trunk/motors.c	2007-09-13 06:32:43 UTC (rev 520)
@@ -101,30 +101,44 @@
  *  @{ */
 /** \ingroup movements */
 /**
-   \brief Initialize the position switches for normal operation.
-   Initialize all I/O of the position switches as input with internal pull-up.
+   \brief Initialize all I/O for normal movement operation.
+   This function sets all motor I/O as output, initializes all I/O of the
+   position switches as input with internal pull-up and enables all
+   corresponding interrupts.
  */
-void initPosSwitches(void)
+void init_movements(void)
 {
-    PSW_WINGS_DDR &= ~PSW_WINGS_MK;
-    PSW_WINGS_PT |= PSW_WINGS_MK;
+    PSW_FLIPPERS_DDR &= ~PSW_FLIPPERS_MK;
+    PSW_FLIPPERS_PT |= PSW_FLIPPERS_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;
+    /* Enable 'Pin change interrupt 0' for the mouth position switches */
+    PCMSK0 = PSW_MOUTH_MK;
+    PCICR |= _BV(PCIE0);
+    /* Enable 'Pin change interrupt 1' for the flippers position switch */
+    PCMSK1 = PSW_FLIPPERS_MK;
+    PCICR |= _BV(PCIE1);
+    /* Enable 'Pin change interrupt 2' for the eyes position switches */
+    PCMSK2 = PSW_EYES_C_MK;
+    PCICR |= _BV(PCIE2);
+    /* Enable 'INT1 interrupt' for the spin position switch in falling edge mode */
+    EICRA |= _BV(ISC11);
+    EIMSK |= _BV(INT1);
 }
 
 /**
    \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.
+   In normal mode, all pins have internal pull-up and each switch shorts the
+   pin low. So in power save mode, we must set all pins as strong low.
  */
-void closePosSwitches(void)
+void powersave_movements(void)
 {
-    PSW_WINGS_PT &= ~PSW_WINGS_MK;
-    PSW_WINGS_DDR |= PSW_WINGS_MK;
+    PSW_FLIPPERS_PT &= ~PSW_FLIPPERS_MK;
+    PSW_FLIPPERS_DDR |= PSW_FLIPPERS_MK;
     PSW_EYES_PT &= ~PSW_EYES_MK;
     PSW_EYES_DDR |= PSW_EYES_MK;
     PSW_MOUTH_PT &= ~PSW_MOUTH_MK;
@@ -132,19 +146,6 @@
     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_FLIPPERS_FW_DDR |= MOT_FLIPPERS_FW_MK;
-    MOT_FLIPPERS_BW_DDR |= MOT_FLIPPERS_BW_MK;
-    MOT_SPIN_DDR |= MOT_SPIN_MK;
-}
 /*! @} */
 
 /**
@@ -546,7 +547,7 @@
 }
 
 /**
-   \brief Wings position interrupt
+   \brief Flippers position interrupt
 
    This interrupt stops the flippers when the desired number of movements have
    been executed. In order to stop the flippers quickly and block the motor, we
@@ -562,7 +563,7 @@
 ISR(SIG_PIN_CHANGE1)
 {
     /* We only count when the switch is pushed, not released. */
-    if (~PSW_WINGS_PIN & PSW_WINGS_MK)
+    if (~PSW_FLIPPERS_PIN & PSW_FLIPPERS_MK)
     {
         /* This test prevents the toggle when the flippers are pushed. The
          * flippers motor must be switched on (flippers_PWM <> 0) to toggle the

Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h	2007-09-12 14:53:05 UTC (rev 519)
+++ firmware/tuxcore/trunk/motors.h	2007-09-13 06:32:43 UTC (rev 520)
@@ -82,8 +82,8 @@
 /*
  * Module configuration
  */
-void initPosSwitches(void);
-void closePosSwitches(void);
+void init_movements(void);
+void powersave_movements(void);
 void initMotors(void);
 
 /*