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libbob3
Commit 153afb3a authored by springob's avatar springob
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* update 


git-svn-id: svn://svn.code.sf.net/p/nibo/code/niborobolib/trunk/arduino16/libraries/BOB3/src@323 2d339c8f-7935-0410-b692-f2b57624aac1
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#ifdef ARDUINO
#include "bob3/iodefs.h"
#include "bob3/analog.h"
#include "bob3/leds.h"
#include "BOB3.h"
#include "bob3/utils.h"
#include "bob3/ircom.h"
#else
#include "iodefs.h"
#include "analog.h"
#include "leds.h"
#include "bob3.h"
#include "utils.h"
#include "ircom.h"
#endif
#include <stdlib.h>
#include <avr/io.h>
#include <avr/boot.h>
#ifndef SIGRD
#define SIGRD 5
#endif
Bob3 bob3;
uint8_t _bob3_revision;
void Bob3::init() {
uint8_t sig2 = boot_signature_byte_get(4);
if (sig2==0x0a) _bob3_revision = 102; // V1.02
if (sig2==0x0f) _bob3_revision = 103; // V1.03
leds_init();
analog_init();
leds_set_RGBx(1, OFF);
leds_set_RGBx(2, OFF);
}
void Bob3::setLed(uint8_t id, uint16_t color) {
switch (id) {
case 1:
case 2:
leds_set_RGBx(id, color);
break;
case 3:
set_output_bitval(IO_LED_1, color);
break;
case 4:
set_output_bitval(IO_LED_2, color);
break;
}
}
uint16_t Bob3::getLed(uint8_t id) {
if (id<=2) {
return leds_get_RGBx(id);
} else if (id==3) {
return get_output_bit(IO_LED_1)?ON:OFF;
} else if (id==4) {
return get_output_bit(IO_LED_2)?ON:OFF;
}
return 0;
}
uint16_t Bob3::getIRSensor() {
return analog_getValueExt(ANALOG_IR, 2);
}
uint16_t Bob3::getIRLight() {
return analog_getValueExt(ANALOG_IR, 0);
}
void Bob3::enableIRSensor(bool enable) {
}
uint8_t Bob3::getArm(uint8_t id) {
uint8_t v0, v1, v2, v3;
if (id==1) {
v0 = analog_getValueExt(ANALOG_L0, 0);
v1 = analog_getValueExt(ANALOG_L1, 0);
v2 = analog_getValueExt(ANALOG_L2, 0);
v3 = analog_getValueExt(ANALOG_L3, 0);
} else if (id==2) {
v0 = analog_getValueExt(ANALOG_R0, 0);
v1 = analog_getValueExt(ANALOG_R1, 0);
v2 = analog_getValueExt(ANALOG_R2, 0);
v3 = analog_getValueExt(ANALOG_R3, 0);
} else {
return 0;
}
if (v0&0x01) return 1;
if (v1&0x01) return 2;
if (v2&0x01) return 2;
if (v3&0x01) return 3;
/*
v = max(v0, v1, v2, v3);
//if (v<175) {
if (v>80) {
if (v==v0) {
return 3;
} else if (v==v1) {
return 2;
} else if (v==v2) {
return 2;
} else if (v==v3) {
return 1;
}
}
*/
return 0;
}
void Bob3::enableArms(bool enable) {
}
uint16_t Bob3::getTemperature() {
return analog_getValueExt(ANALOG_TEMP, 0);
}
uint16_t Bob3::getMillivolt() {
// ADC_BANDGAP_CHANNEL_VOLTAGE must be below 1.28 V!!!
uint16_t voltage = analog_getValueExt(ANALOG_VOLT, 0);
voltage = ((uint16_t)(50*ADC_BANDGAP_CHANNEL_VOLTAGE*1024))/voltage;
voltage *= 20;
return voltage;
}
uint8_t Bob3::getID() {
uint8_t id=0;
deactivate_output_bit(IO_ID_0);
deactivate_output_bit(IO_ID_1);
deactivate_output_bit(IO_ID_2);
deactivate_output_bit(IO_ID_3);
deactivate_output_bit(IO_ID_4);
set_output_bit(IO_ID_0);
set_output_bit(IO_ID_1);
set_output_bit(IO_ID_2);
set_output_bit(IO_ID_3);
set_output_bit(IO_ID_4);
id += get_input_bit(IO_ID_0)?0:1;
id += get_input_bit(IO_ID_1)?0:2;
id += get_input_bit(IO_ID_2)?0:4;
id += get_input_bit(IO_ID_3)?0:8;
id += get_input_bit(IO_ID_4)?0:16;
clear_output_bit(IO_ID_0);
clear_output_bit(IO_ID_1);
clear_output_bit(IO_ID_2);
clear_output_bit(IO_ID_3);
clear_output_bit(IO_ID_4);
return id;
}
int16_t Bob3::receiveIRCode(uint8_t carrier, uint16_t timeout) {
int16_t code;
uint8_t an_bak = analog_enable(false);
code = ircom_receive(carrier, timeout);
analog_enable(an_bak);
return code;
}
void Bob3::transmitIRCode(uint8_t carrier, uint8_t code) {
uint8_t an_bak = analog_enable(false);
ircom_transmit(carrier, code);
analog_enable(an_bak);
}
static uint16_t mixColor16(uint16_t color1, uint16_t color2, uint8_t w1, uint8_t w2) {
uint8_t r = (((uint8_t(color1>>8))&0x0f)*w1 + ((uint8_t(color2>>8))&0x0f)*w2)/16;
uint8_t g = (((uint8_t(color1>>4))&0x0f)*w1 + ((uint8_t(color2>>4))&0x0f)*w2)/16;
uint8_t b = (((uint8_t(color1>>0))&0x0f)*w1 + ((uint8_t(color2>>0))&0x0f)*w2)/16;
return rgb(r, g, b);
}
uint16_t mixColor(uint16_t color1, uint16_t color2, uint8_t w1, uint8_t w2) {
if (w1==0) return color2;
if (w2==0) return color1;
uint8_t sum=w1+w2;
if (sum==16) return mixColor16(color1, color2, w1, w2);
uint8_t r = (((color1>>8)&0x0f)*w1 + ((color2>>8)&0x0f)*w2)/sum;
uint8_t g = (((color1>>4)&0x0f)*w1 + ((color2>>4)&0x0f)*w2)/sum;
uint8_t b = (((color1>>0)&0x0f)*w1 + ((color2>>0)&0x0f)*w2)/sum;
return rgb(r, g, b);
}
uint16_t hsvx(uint8_t h, uint8_t _s, uint8_t _v) {
// h: [0..255]
// _s: [0..255]
// _v: [0..255]
if (_s == 0) {
_v >>= 4;
return rgb(_v,_v,_v);
}
uint16_t v = _v;
uint16_t s = _s;
uint8_t seg, delta;
if (h>=213) { seg=5; delta = 6*(h-213); }
else if (h>=170) { seg=4; delta = 6*(h-170); }
else if (h>=128) { seg=3; delta = 6*(h-128); }
else if (h>=85) { seg=2; delta = 6*(h-85); }
else if (h>=42) { seg=1; delta = 6*(h-42); }
else { seg=0; delta = 6*(h-0); }
uint8_t p = (v * (255 - s)) >> 12;
uint8_t q = (v * (255 - ((s * delta) >> 8))) >> 12;
uint8_t t = (v * (255 - ((s * (255 - delta)) >> 8))) >> 12;
v >>= 4;
switch (seg) {
case 0: return rgb(v, t, p);
case 1: return rgb(q, v, p);
case 2: return rgb(p, v, t);
case 3: return rgb(p, q, v);
case 4: return rgb(t, p, v);
case 5: return rgb(v, p, q);
}
return 0;
}
uint16_t hsv(int16_t _h, uint8_t _s, uint8_t _v) {
// _h: [0..359] degree (tolarant)
// _s: [0..100] percent
// _v: [0..100] percent
if (_s == 0) {
_v = 2*_v + _v/2; // Range: [0...250]
_v >>= 4;
return rgb(_v,_v,_v);
}
uint16_t v = 2*_v + _v/2; // Range: [0...250]
uint16_t s = 2*_s + _s/2; // Range: [0...250]
uint8_t seg, delta;
while (_h<0) _h += 360;
while (_h>=360) _h -= 360;
if (_h>=300) { seg=5; delta = _h-300; }
else if (_h>=240) { seg=4; delta = _h-240; }
else if (_h>=180) { seg=3; delta = _h-180; }
else if (_h>=120) { seg=2; delta = _h-120; }
else if (_h>=60) { seg=1; delta = _h-60; }
else { seg=0; delta = _h-0; }
delta = 4*delta + delta/4; // Range: [0...250]
uint8_t p = (v * (255 - s)) >> 12;
uint8_t q = (v * (255 - ((s * delta) >> 8))) >> 12;
uint8_t t = (v * (255 - ((s * (255 - delta)) >> 8))) >> 12;
v >>= 4;
switch (seg) {
case 0: return rgb(v, t, p);
case 1: return rgb(q, v, p);
case 2: return rgb(p, v, t);
case 3: return rgb(p, q, v);
case 4: return rgb(t, p, v);
case 5: return rgb(v, p, q);
}
return 0;
}
uint32_t random32() {
static unsigned long ctx = 1;
ctx += analog_getRandomSeed();
return random_r(&ctx);
}
uint16_t randomNumber(uint16_t lo, uint16_t hi) {
uint16_t x = random16();
if ((lo==0x0000) && (hi==0xffff)) return x;
if (hi<lo) return 0;
uint16_t range = hi-lo+1;
x = x%range;
return x+lo;
}
uint16_t randomBits(uint8_t zeros, uint8_t ones) {
uint16_t val = 0;
uint8_t rounds = zeros+ones;
while (rounds--) {
val<<=1;
if (randomNumber(0, rounds) < ones) {
ones--;
val |= 0x01;
}
}
return val;
}
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