include/dsensor.h

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/*
 *  The contents of this file are subject to the Mozilla Public License
 *  Version 1.0 (the "License"); you may not use this file except in
 *  compliance with the License. You may obtain a copy of the License
 *  at http://www.mozilla.org/MPL/
 *
 *  Software distributed under the License is distributed on an "AS IS"
 *  basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See
 *  the License for the specific language governing rights and
 *  limitations under the License.
 *
 *  The Original Code is legOS code, released October 17, 1999.
 *
 *  The Initial Developer of the Original Code is Markus L. Noga.
 *  Portions created by Markus L. Noga are Copyright (C) 1999
 *  Markus L. Noga. All Rights Reserved.
 *
 *  Contributor(s): Markus L. Noga <markus@noga.de>
 */

/*
 *   2000.04.30 - Paolo Masetti <paolo.masetti@itlug.org>
 *
 *      - Some typecast & ()s in macros to avoid strange effects
 *        using them...
 *
 *  2000.09.06 - Jochen Hoenicke <jochen@gnu.org>
 *
 *      - Added velocity calculation for rotation sensor.
 */


#ifndef __dsensor_h__
#define __dsensor_h__

#ifdef  __cplusplus
extern "C" {
#endif

#include <config.h>

#ifdef CONF_DSENSOR

#include <sys/h8.h>
#include <sys/bitops.h>

//
// Definitions
//

//
//
#define SENSOR_1        AD_C    
#define SENSOR_2        AD_B    
#define SENSOR_3        AD_A    
#define BATTERY         AD_D    

//
//
#define LIGHT_RAW_BLACK 0xffc0  
#define LIGHT_RAW_WHITE 0x5080  


//
// convert raw values to 0 (dark) .. LIGHT_MAX (bright)
// roughly 0-100.
//
#define LIGHT(a)    (147 - ds_scale(a)/7)       
#define LIGHT_MAX   LIGHT(LIGHT_RAW_WHITE)      

//
// processed active light sensor
//
#define LIGHT_1     LIGHT(SENSOR_1)             
#define LIGHT_2     LIGHT(SENSOR_2)             
#define LIGHT_3     LIGHT(SENSOR_3)             

#ifdef CONF_DSENSOR_ROTATION
//
// processed rotation sensor
//
#define ROTATION_1  (ds_rotations[2])   
#define ROTATION_2  (ds_rotations[1])   
#define ROTATION_3  (ds_rotations[0])   
#endif

#ifdef CONF_DSENSOR_VELOCITY
//
// processed velocity sensor
//
#define VELOCITY_1  (ds_velocities[2])
#define VELOCITY_2  (ds_velocities[1])
#define VELOCITY_3  (ds_velocities[0])
#endif

#ifdef CONF_DSENSOR_MUX
#define SENSOR_1A (ds_muxs[2][0])
#define SENSOR_1B (ds_muxs[2][1])
#define SENSOR_1C (ds_muxs[2][2])
#define SENSOR_2A (ds_muxs[1][0])
#define SENSOR_2B (ds_muxs[1][1])
#define SENSOR_2C (ds_muxs[1][2])
#define SENSOR_3A (ds_muxs[0][0])
#define SENSOR_3B (ds_muxs[0][1])
#define SENSOR_3C (ds_muxs[0][2])
#endif //CONF_DSENSOR_MUX

#define TOUCH(a)    ((unsigned int)(a) < 0x8000)

//  Processed touch sensors
//
#define TOUCH_1     TOUCH(SENSOR_1)             
#define TOUCH_2     TOUCH(SENSOR_2)             
#define TOUCH_3     TOUCH(SENSOR_3)             


#define ds_scale(x)   ((unsigned int)(x)>>6)    
#define ds_unscale(x) ((unsigned int)(x)<<6)    


//
// Variables
//

//
// don't manipulate directly unless you know what you're doing!
//

extern unsigned char ds_activation;     

#ifdef CONF_DSENSOR_ROTATION
extern unsigned char ds_rotation;       

extern volatile int ds_rotations[3];    

#endif
#ifdef CONF_DSENSOR_VELOCITY
extern volatile int ds_velocities[3];   
#endif

#ifdef CONF_DSENSOR_MUX
extern unsigned char ds_mux;    

extern volatile int ds_muxs[3][3];      
#endif //CONF_DSENSOR_MUX

//
// Functions
//


extern inline void ds_active(volatile unsigned *sensor)
{
  if (sensor == &SENSOR_3)
    bit_set(&ds_activation, 0);
  else if (sensor == &SENSOR_2)
    bit_set(&ds_activation, 1);
  else if (sensor == &SENSOR_1)
    bit_set(&ds_activation, 2);
}


extern inline void ds_passive(volatile unsigned *sensor)
{
  if (sensor == &SENSOR_3) {
    bit_clear(&ds_activation, 0);
    bit_clear(&PORT6, 0);
  } else if (sensor == &SENSOR_2) {
    bit_clear(&ds_activation, 1);
    bit_clear(&PORT6, 1);
  }  else if (sensor == &SENSOR_1) {
    bit_clear(&ds_activation, 2);
    bit_clear(&PORT6, 2);
  }
}

#ifdef CONF_DSENSOR_ROTATION


extern void ds_rotation_set(volatile unsigned *sensor, int pos);


extern inline void ds_rotation_on(volatile unsigned *sensor)
{
  if (sensor == &SENSOR_3)
    bit_set(&ds_rotation, 0);
  else if (sensor == &SENSOR_2)
    bit_set(&ds_rotation, 1);
  else if (sensor == &SENSOR_1)
    bit_set(&ds_rotation, 2);
}


extern inline void ds_rotation_off(volatile unsigned *sensor)
{
  if (sensor == &SENSOR_3)
    bit_clear(&ds_rotation, 0);
  else if (sensor == &SENSOR_2)
    bit_clear(&ds_rotation, 1);
  else if (sensor == &SENSOR_1)
    bit_clear(&ds_rotation, 2);
}
#endif // CONF_DSENSOR_ROTATION


#ifdef CONF_DSENSOR_MUX

#define DS_MUX_POST_SWITCH 150


extern void ds_mux_on(volatile unsigned *sensor,
                      unsigned int ch1,
                      unsigned int ch2,
                      unsigned int ch3);



extern inline void ds_mux_off(volatile unsigned *sensor)
{
  if (sensor == &SENSOR_3)
    bit_clear(&ds_mux, 0);
  else if (sensor == &SENSOR_2)
    bit_clear(&ds_mux, 1);
  else if (sensor == &SENSOR_1)
    bit_clear(&ds_mux, 2);
}//endof ds_mux_off
#endif // CONF_DSENSOR_MUX





#endif // CONF_DSENSOR

#ifdef  __cplusplus
}
#endif

#endif // __dsensor_h__

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brickOS is released under the Mozilla Public License. Original code copyright 1998-2002 by the authors.

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