ballboard blocking detection

[aversive.git] / projects / microb2010 / ballboard / sensor.c

diff --git a/projects/microb2010/ballboard/sensor.c b/projects/microb2010/ballboard/sensor.c
index fe7f92a..a3a705b 100644 (file)
--- a/projects/microb2010/ballboard/sensor.c
+++ b/projects/microb2010/ballboard/sensor.c
@@ -146,8 +146,8 @@ struct sensor_filter {
  * CAP 1
  */
 static struct sensor_filter sensor_filter[SENSOR_MAX] = {
-       [S_CAP1] = { 1, 0, 0, 1, 0, 0 }, /* 0 */
-       [S_CAP2] = { 1, 0, 0, 1, 0, 0 }, /* 1 */
+       [S_HIGH_BARRIER] = { 20, 0, 1, 19, 0, 1 }, /* 0 */
+       [S_LOW_BARRIER] = { 50, 0, 1, 1, 0, 0 }, /* 1 */
        [S_CAP3] = { 1, 0, 0, 1, 0, 0 }, /* 2 */
        [S_CAP4] = { 1, 0, 0, 1, 0, 0 }, /* 3 */
        [S_R_IR] = { 1, 0, 0, 1, 0, 0 }, /* 4 */
@@ -235,7 +235,8 @@ static void do_boolean_sensors(void *dummy)
        IRQ_UNLOCK(flags);
 }
 
-static volatile uint8_t lcob_seen = I2C_COB_NONE, rcob_seen = I2C_COB_NONE;
+static volatile uint8_t lcob_seen = I2C_COB_NONE;
+static volatile uint8_t rcob_seen = I2C_COB_NONE;
 
 uint8_t cob_detect_left(void)
 {
@@ -298,6 +299,12 @@ static void do_cob_detection(void)
                        else
                                lcob_seen = I2C_COB_BLACK;
                        IRQ_UNLOCK(flags);
+                       if (l_cpt_on > l_cpt_off)
+                               DEBUG(E_USER_SENSOR, "left white %d %d",
+                                     l_cpt_on, l_cpt_off);
+                       else
+                               DEBUG(E_USER_SENSOR, "left black %d %d",
+                                     l_cpt_on, l_cpt_off);
                }
        }
 
@@ -328,6 +335,13 @@ static void do_cob_detection(void)
                        else
                                rcob_seen = I2C_COB_BLACK;
                        IRQ_UNLOCK(flags);
+
+                       if (r_cpt_on > r_cpt_off)
+                               DEBUG(E_USER_SENSOR, "right white %d %d",
+                                     r_cpt_on, r_cpt_off);
+                       else
+                               DEBUG(E_USER_SENSOR, "right black %d %d",
+                                     r_cpt_on, r_cpt_off);
                }
        }