work on trajectory, update cobboard and ballboard too

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

diff --git a/projects/microb2010/mainboard/sensor.c b/projects/microb2010/mainboard/sensor.c
index 6ecff35..a6f85de 100644 (file)
--- a/projects/microb2010/mainboard/sensor.c
+++ b/projects/microb2010/mainboard/sensor.c
@@ -1,7 +1,7 @@
-/*  
+/*
  *  Copyright Droids Corporation (2009)
  *  Olivier MATZ <zer0@droids-corp.org>
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -48,6 +48,8 @@
 #include "main.h"
 #include "sensor.h"
 
+#ifndef HOST_VERSION
+
 /************ ADC */
 
 struct adc_infos {
@@ -82,7 +84,7 @@ int16_t rii_strong(struct adc_infos *adc, int16_t val)
 #define ADC_CONF(x) ( ADC_REF_AVCC | ADC_MODE_INT | MUX_ADC##x )
 
 /* define which ADC to poll, see in sensor.h */
-static struct adc_infos adc_infos[ADC_MAX] = { 
+static struct adc_infos adc_infos[ADC_MAX] = {
        [ADC_CSENSE1] = { .config = ADC_CONF(0), .filter = rii_medium },
        [ADC_CSENSE2] = { .config = ADC_CONF(1), .filter = rii_medium },
        [ADC_CSENSE3] = { .config = ADC_CONF(2), .filter = rii_medium },
@@ -100,7 +102,7 @@ static struct adc_infos adc_infos[ADC_MAX] = {
 static void adc_event(int16_t result);
 
 /* called every 10 ms, see init below */
-static void do_adc(void *dummy) 
+static void do_adc(void *dummy)
 {
        /* launch first conversion */
        adc_launch(adc_infos[0].config);
@@ -123,9 +125,13 @@ static void adc_event(int16_t result)
        else
                adc_launch(adc_infos[i].config);
 }
+#endif /* !HOST_VERSION */
 
 int16_t sensor_get_adc(uint8_t i)
 {
+#ifdef HOST_VERSION
+       return 0;
+#else
        int16_t tmp;
        uint8_t flags;
 
@@ -133,11 +139,12 @@ int16_t sensor_get_adc(uint8_t i)
        tmp = adc_infos[i].value;
        IRQ_UNLOCK(flags);
        return tmp;
+#endif
 }
 
 /************ boolean sensors */
 
-
+#ifndef HOST_VERSION
 struct sensor_filter {
        uint8_t filter;
        uint8_t prev;
@@ -168,11 +175,12 @@ static struct sensor_filter sensor_filter[SENSOR_MAX] = {
        [S_RESERVED7] = { 1, 0, 0, 1, 0, 0 }, /* 14 */
        [S_RESERVED8] = { 1, 0, 0, 1, 0, 0 }, /* 15 */
 };
+#endif /* !HOST_VERSION */
 
 /* value of filtered sensors */
 static uint16_t sensor_filtered = 0;
 
-/* sensor mapping : 
+/* sensor mapping :
  * 0-3:  PORTK 2->5 (cap1 -> cap4) (adc10 -> adc13)
  * 4-5:  PORTL 0->1 (cap5 -> cap6)
  * 6-7:  PORTE 3->4 (cap7 -> cap8)
@@ -191,10 +199,15 @@ uint16_t sensor_get_all(void)
 
 uint8_t sensor_get(uint8_t i)
 {
+#ifdef HOST_VERSION
+       return 0;
+#else
        uint16_t tmp = sensor_get_all();
        return (tmp & _BV(i));
+#endif
 }
 
+#ifndef HOST_VERSION
 /* get the physical value of pins */
 static uint16_t sensor_read(void)
 {
@@ -227,7 +240,7 @@ static void do_boolean_sensors(void *dummy)
                        if (sensor_filter[i].cpt <= sensor_filter[i].thres_off)
                                sensor_filter[i].prev = 0;
                }
-               
+
                if (sensor_filter[i].prev) {
                        tmp |= (1UL << i);
                }
@@ -236,11 +249,12 @@ static void do_boolean_sensors(void *dummy)
        sensor_filtered = tmp;
        IRQ_UNLOCK(flags);
 }
+#endif /* !HOST_VERSION */
 
 /* virtual obstacle */
 
 #define DISABLE_CPT_MAX 200
-static uint8_t disable = 0; /* used to disable obstacle detection 
+static uint8_t disable = 0; /* used to disable obstacle detection
                           * during some time */
 
 /* called every 10 ms */
@@ -273,6 +287,7 @@ uint8_t sensor_obstacle_is_disabled(void)
 
 /************ global sensor init */
 
+#ifndef HOST_VERSION
 /* called every 10 ms, see init below */
 static void do_sensors(void *dummy)
 {
@@ -280,14 +295,19 @@ static void do_sensors(void *dummy)
        do_boolean_sensors(NULL);
        sensor_obstacle_update();
 }
+#endif
 
 void sensor_init(void)
 {
+#ifdef HOST_VERSION
+       return;
+#else
        adc_init();
        adc_register_event(adc_event);
        /* CS EVENT */
-       scheduler_add_periodical_event_priority(do_sensors, NULL, 
-                                               10000L / SCHEDULER_UNIT, 
+       scheduler_add_periodical_event_priority(do_sensors, NULL,
+                                               10000L / SCHEDULER_UNIT,
                                                ADC_PRIO);
+#endif
 }