From 01d0ce7a20d54d97bdd971fa3119f4f0e4d3937a Mon Sep 17 00:00:00 2001 From: zer0 Date: Mon, 3 May 2010 00:41:35 +0200 Subject: [PATCH] enhance debug sensors on ballboard --- projects/microb2010/ballboard/sensor.c | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/projects/microb2010/ballboard/sensor.c b/projects/microb2010/ballboard/sensor.c index fe7f92a..92b1c47 100644 --- a/projects/microb2010/ballboard/sensor.c +++ b/projects/microb2010/ballboard/sensor.c @@ -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); } } -- 2.39.5