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separation of software and hardware handling of the chemo sensor

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Pascal Brisset
2007-06-03 13:29:58 +00:00
parent 45216e9ed9
commit 30a9b51514
6 changed files with 18 additions and 15 deletions
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sw/airborne/anemotaxis.c
+1 -2
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@@ -5,8 +5,7 @@
#include "nav.h"
#include "flight_plan.h"
#include "ap_downlink.h"
uint8_t chemo_sensor;
#include "chemo_detect.h"
enum status { UTURN, CROSSWIND };
static enum status status;
sw/airborne/anemotaxis.h
-1
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@@ -3,7 +3,6 @@
#include "std.h"
extern uint8_t chemo_sensor;
extern bool_t nav_anemotaxis_downwind(uint8_t c, float radius);
extern bool_t nav_anemotaxis_init(uint8_t c);
extern bool_t nav_anemotaxis(uint8_t c, uint8_t c1, uint8_t c2, uint8_t plume);
sw/airborne/chemo_detect.c
+5 -3
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@@ -4,7 +4,7 @@
#define DETECT_PERIOD 8 /* *4Hz */
#define THRESHOLD 150
uint8_t chemo_sensor;
uint16_t chemo_sensor;
void chemo_init( void ) {
chemo_sensor = 0;
@@ -16,8 +16,10 @@ void chemo_periodic( void ) {
/* Detection on the first sensor */
int dval = enose_val[0] - vals[0][idx];
if (dval < -THRESHOLD)
chemo_sensor = Min(-dval, 0xff);
if (dval < -THRESHOLD) {
chemo_sensor = -dval;
} else
chemo_sensor = 0;
int i;
for(i = 0; i < ENOSE_NB_SENSOR; i++)
sw/airborne/chemo_detect.h
+2 -2
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@@ -3,8 +3,8 @@
#include "std.h"
extern uint8_t chemo_sensor;
#define MAX_CHEMO 255
extern uint16_t chemo_sensor;
#define MAX_CHEMO 400
void chemo_init( void );
void chemo_periodic( void );
sw/airborne/chemotaxis.c
+1 -4
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@@ -5,14 +5,12 @@
#include "nav.h"
#include "flight_plan.h"
#include "ap_downlink.h"
uint8_t chemo_sensor;
#include "chemo_detect.h"
#define MAX_RADIUS 250
#define ALPHA 0.5
static uint8_t last_plume_value;
#define MAX_CHEMO 255
static float radius;
static int8_t sign;
@@ -23,7 +21,6 @@ bool_t nav_chemotaxis_init( uint8_t c, uint8_t plume ) {
sign = 1;
waypoints[plume].x = waypoints[c].x;
waypoints[plume].y = waypoints[c].y;
chemo_sensor = 0;
return FALSE;
}
sw/airborne/enose.c
+9 -3
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@@ -68,9 +68,15 @@ void enose_periodic( void ) {
enose_i2c_done = FALSE;
}
else if (enose_status == ENOSE_MEASURING_RD) {
enose_val[0] = (i2c_buf[0]<<8) | i2c_buf[1];
enose_val[1] = (i2c_buf[2]<<8) | i2c_buf[3];
enose_val[2] = (i2c_buf[4]<<8) | i2c_buf[5];
uint16_t val = (i2c_buf[0]<<8) | i2c_buf[1];
if (val < 5000)
enose_val[0] = val;
val = (i2c_buf[2]<<8) | i2c_buf[3];
if (val < 5000)
enose_val[1] = val;
val = (i2c_buf[4]<<8) | i2c_buf[5];
if (val < 5000)
enose_val[2] = val;
enose_status = ENOSE_IDLE;
}
}