[tuxdroid-svn] r798 - in firmware: tuxcore/trunk tuxdefs
Status: Beta
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[tuxdroid-svn] r798 - in firmware: tuxcore/trunk tuxdefs
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From: jaguarondi <c2m...@c2...> - 2007-12-14 16:42:44
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Author: jaguarondi
Date: 2007-12-14 17:42:38 +0100 (Fri, 14 Dec 2007)
New Revision: 798
Modified:
firmware/tuxcore/trunk/led.c
firmware/tuxcore/trunk/led.h
firmware/tuxcore/trunk/main.c
firmware/tuxcore/trunk/parser.c
firmware/tuxdefs/api.h
firmware/tuxdefs/config.h
Log:
* Now sending LED status and did some cleanup.
Modified: firmware/tuxcore/trunk/led.c
===================================================================
--- firmware/tuxcore/trunk/led.c 2007-12-14 13:34:39 UTC (rev 797)
+++ firmware/tuxcore/trunk/led.c 2007-12-14 16:42:38 UTC (rev 798)
@@ -31,6 +31,8 @@
/** Buffer the LEDs values before being applied on the I/O port. */
uint8_t leds_buffer = 0;
+/** Flag set when the LED status changed. */
+bool led_f;
/** Left LED status structure. */
led_t left_led =
@@ -294,6 +296,8 @@
{
if (!led->var.speed_cnt)
{
+ /* LED status is changing. */
+ led_f = true;
if (led->command.setpoint > led->status.intensity)
{
if (led->status.intensity + led->command.step
@@ -355,7 +359,7 @@
This function should be called at a regular interval, which is the time
basis for the delays.
*/
-static inline void control_call(led_t *led)
+static inline void control_effects(led_t *led)
{
/* Do we need fading? */
if (led->status.fading)
@@ -388,9 +392,18 @@
*/
void led_control(bool mask)
{
- control_call(&left_led);
- control_call(&right_led);
+ static bool previous_mask = false;
+ if (previous_mask != mask)
+ {
+ previous_mask = mask;
+ /* LED status is changing. */
+ led_f = true;
+ }
+
+ control_effects(&left_led);
+ control_effects(&right_led);
+
/* This circumvent the bug we have when the OCR values are too low (<5 it
* seems), interrupt priority of the comparisons is higher than the
* overflow so when 2 interrupts occurs nearly simultaneously, the compare
Modified: firmware/tuxcore/trunk/led.h
===================================================================
--- firmware/tuxcore/trunk/led.h 2007-12-14 13:34:39 UTC (rev 797)
+++ firmware/tuxcore/trunk/led.h 2007-12-14 16:42:38 UTC (rev 798)
@@ -74,6 +74,7 @@
extern led_t left_led;
extern led_t right_led;
+extern bool led_f;
void led_init(void);
void led_shutdown(void);
Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c 2007-12-14 13:34:39 UTC (rev 797)
+++ firmware/tuxcore/trunk/main.c 2007-12-14 16:42:38 UTC (rev 798)
@@ -276,6 +276,19 @@
FifoPut(statusFifo, spin_move_counter);
FifoPut(statusFifo, gStatus.pos);
FifoPut(statusFifo, 0);
+ if (led_f)
+ {
+ led_f = false;
+ FifoPut(statusFifo, STATUS_LED_CMD);
+ FifoPut(statusFifo, left_led.status.intensity);
+ FifoPut(statusFifo, right_led.status.intensity);
+ FifoPut(statusFifo, left_led.status.fading |
+ (left_led.status.pulsing << 1) |
+ (right_led.status.fading << 2) |
+ (right_led.status.pulsing << 3) |
+ /* Also add the mask. */
+ (cond_flags.eyes_closed << 4));
+ }
if (sensorsStatus & LIGHT_FLAG) /* send light measurement */
{
sensorsStatus &= ~LIGHT_FLAG;
Modified: firmware/tuxcore/trunk/parser.c
===================================================================
--- firmware/tuxcore/trunk/parser.c 2007-12-14 13:34:39 UTC (rev 797)
+++ firmware/tuxcore/trunk/parser.c 2007-12-14 16:42:38 UTC (rev 798)
@@ -133,11 +133,11 @@
stop_spinning();
}
/* Leds */
- else if (command[0] == LED_BLINK_RANGE_CMD)
+ else if (command[0] == LED_PULSE_RANGE_CMD)
{
led_pulse_range(command[1], command[2], command[3]);
}
- else if (command[0] == LED_BLINK_CMD)
+ else if (command[0] == LED_PULSE_CMD)
{
led_pulse(command[1], command[2], command[3]);
}
Modified: firmware/tuxdefs/api.h
===================================================================
--- firmware/tuxdefs/api.h 2007-12-14 13:34:39 UTC (rev 797)
+++ firmware/tuxdefs/api.h 2007-12-14 16:42:38 UTC (rev 798)
@@ -197,16 +197,16 @@
* @{ */
/**
- * Set the rate and step which determine the speed of the fading effect.
+ * Set the speed and step which determine the speed of the fading effect.
*
- * The fading increases or decreases the intensity by 'step' each 'rate' times
+ * The fading increases or decreases the intensity by 'step' each 'speed' times
* 4ms.
*
* Parameters:
* - 1 - LEDs affected by the command, either left, right or both.
* The values are defined in LEDS_t.
- * - 2 - rate of the fading effect, the time base is 4ms.
- * A value from 1 to 255 will change the rate,
+ * - 2 - speed of the fading effect, the time base is 4ms.
+ * A value from 1 to 255 will change the speed,
* 0 will leave it unaffected.
* - 3 - step of the fading effect.
* A value from 1 to 255 will change the step,
@@ -216,7 +216,7 @@
/**
* Set both LEDs to a given intensity with a fading effect controlled by
- * 'rate' and 'step'.
+ * 'speed' and 'step'.
*
* Parameters:
* - 1 - Which LEDs.
@@ -226,32 +226,59 @@
#define LED_SET_CMD 0xD1
/**
- * Set the intensity boundaries for the blink command.
+ * Set the intensity boundaries for the pulse command.
*
* Parameters:
* - 1 - Which LEDs.
* - 2 - Maximum intensity.
* - 3 - Minimum intensity.
*/
-#define LED_BLINK_RANGE_CMD 0xD2
+#define LED_PULSE_RANGE_CMD 0xD2
/**
- * Blink LEDs 'number' times with a frequency determined by 'pulse_width'.
+ * Pulse LEDs 'number' times with a frequency determined by 'pulse_width'.
*
* Parameters:
* - 1 - Which LEDs
* - 2 - Number of toggles the LED should do.
- * - 3 - Pulse width of the blinking effect. Affected by the fading effect.
+ * - 3 - Pulse width of the pulsing effect. 0 is ignored. The value from 1
+ * to 255 represents half the delay, in 4ms unit, between 2 pulses.
*
* The pulse width won't be shorter than what is set for the fading effect,
- * even if you set a low value here.
+ * even if you set a low value here. If the pulse width is larger than the
+ * fading period, then a pause will occur after fading in order to meet the
+ * pulse width.
*/
-#define LED_BLINK_CMD 0xD3
+#define LED_PULSE_CMD 0xD3
/*! @} */
+/**
+ * \name Status and return values
+ * These commands are sent by tux to the computer instead of the opposite and
+ * usually represent tux's status.
+ * @{ */
+
+/**
+ * LEDs status, both intensities and whether any effect is ongoing.
+ *
+ * Parameters:
+ * - 1 - Intensity of the left LED
+ * - 2 - Intensity of the right LED
+ * - 3 - Effects status
+ * - .0: Left LED fading
+ * - .1: Left LED pulsing
+ * - .3: Right LED fading
+ * - .4: Right LED pulsing
+ * - .5: LED mask, if set the LEDs are not lit even though the
+ * intensity is non zero.
+ */
+#define STATUS_LED_CMD 0xCE
+
/*! @} */
+/*! @} */
+
/** States of the audio recording (flash programming) process */
typedef enum audiorec_status
{
Modified: firmware/tuxdefs/config.h
===================================================================
--- firmware/tuxdefs/config.h 2007-12-14 13:34:39 UTC (rev 797)
+++ firmware/tuxdefs/config.h 2007-12-14 16:42:38 UTC (rev 798)
@@ -50,28 +50,28 @@
/* Head button event */
#define HEAD_E_SEQ {\
0, LED_FADE_SPEED_CMD, 3, 1, 10, \
- 0, LED_BLINK_CMD, 3, 2, 30, /* blink led's once */\
+ 0, LED_PULSE_CMD, 3, 2, 30, /* Pulse LEDs once */\
END_OF_ACTIONS\
}
/* Left flipper button event */
#define LEFT_FLIP_E_SEQ {\
0, LED_FADE_SPEED_CMD, 3, 1, 10, \
- 0, LED_BLINK_CMD, 3, 2, 30, /* blink led's once */\
+ 0, LED_PULSE_CMD, 3, 2, 30, /* Pulse LEDs once */\
END_OF_ACTIONS\
}
/* Right flipper event */
#define RIGHT_FLIP_E_SEQ {\
0, LED_FADE_SPEED_CMD, 3, 1, 10, \
- 0, LED_BLINK_CMD, 3, 2, 30, /* blink led's once */\
+ 0, LED_PULSE_CMD, 3, 2, 30, /* Pulse LEDs once */\
END_OF_ACTIONS\
}
/* Start charging event */
#define CHARGER_START_E_SEQ {\
0, MOVE_MOUTH_CMD, 2, 0, 0, /* move the mouth */\
- 0, LED_BLINK_CMD, 3, 4, 50, /* blink led's twice */\
+ 0, LED_PULSE_CMD, 3, 4, 50, /* Pulse LEDs twice */\
0, PLAY_SOUND_CMD, 3, 0, 0, /* play a sound */\
END_OF_ACTIONS\
}
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