base.c File Reference

#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "../roomba/roomba.h"
#include "../rtos/os.h"
#include "../uart/uart.h"

Go to the source code of this file.

Macros
#define	F_CPU   16000000
#define	MAX   10

Functions
int	buffer_isFull (int *front, int *rear)
int	buffer_isEmpty (int *front, int *rear)
void	buffer_enqueue (int val, int *queue, int *front, int *rear)
int	buffer_dequeue (int *queue, int *front, int *rear)
void	Idle ()
void	InitADC ()
void	JoystickTask ()
void	SwitchTask ()
void	LaserTask ()
void	bluetoothReceive ()
void	screenTask ()
void	RoombaTask ()
void	a_main ()

Variables
unsigned int	IdlePID
MUTEX	bluetooth_mutex
MUTEX	ls_mutex
MUTEX	adc_mutex
int	x
int	y = 375
int	rx
int	ry
uint16_t	photocellReading
uint8_t	LASER = 0
uint8_t	SERVO = 1
uint8_t	LS = 2
uint8_t	SCREEN = 3
uint8_t	ROOMBA = 4
uint8_t	MODE = 5
int	servoState = 375
uint8_t	laser = 0
uint8_t	previousLaser = 0
uint8_t	mode = 0
uint8_t	previousMode = 0
int	lSQueue [MAX]
int	lSFront = 0
int	lSRear = 0

Macro Definition Documentation

#define F_CPU   16000000

Definition at line 1 of file base.c.

#define MAX   10

Definition at line 35 of file base.c.

Function Documentation

void a_main

(

)

Application level main function. Creates the required tasks and then terminates

Definition at line 317 of file base.c.

void bluetoothReceive

(

)

Receives the lightsensor data from the remote station over bluetooth.

Definition at line 207 of file base.c.

int buffer_dequeue	(	int *	queue,
		int *	front,
		int *	rear
	)

Dequeues the value from the specified buffer and returns it.

Definition at line 70 of file base.c.

void buffer_enqueue	(	int	val,
		int *	queue,
		int *	front,
		int *	rear
	)

Enqueues the value into the specified buffer.

Definition at line 58 of file base.c.

int buffer_isEmpty	(	int *	front,
		int *	rear
	)

Return 1 if the buffer is empty.

Definition at line 51 of file base.c.

int buffer_isFull	(	int *	front,
		int *	rear
	)

Return 1 if the buffer is full.

Definition at line 44 of file base.c.

void Idle

(

)

Idle task to run when nothing else is ready.

Definition at line 85 of file base.c.

void InitADC

(

)

Initializes A to D conversion.

Definition at line 93 of file base.c.

void JoystickTask

(

)

Reads x from the joystick and sends it over bluetooth to the remote station.

Definition at line 101 of file base.c.

void LaserTask

(

)

Read the digital pin for the laser pushbutton and if it has changed, send the data to the remote station.

Definition at line 181 of file base.c.

void RoombaTask

(

)

Reads x and y from the joystick and maps them to commands to send to the remote station for control over the Roomba.

Definition at line 248 of file base.c.

void screenTask

(

)

Definition at line 235 of file base.c.

void SwitchTask

(

)

Reads a digital button and if it has changed, send a byte to the remote station.

Definition at line 155 of file base.c.

Variable Documentation

MUTEX adc_mutex

Definition at line 14 of file base.c.

MUTEX bluetooth_mutex

Definition at line 12 of file base.c.

unsigned int IdlePID

Definition at line 10 of file base.c.

uint8_t LASER = 0

Definition at line 20 of file base.c.

uint8_t laser = 0

Definition at line 29 of file base.c.

uint8_t LS = 2

Definition at line 22 of file base.c.

MUTEX ls_mutex

Definition at line 13 of file base.c.

int lSFront = 0

Definition at line 38 of file base.c.

int lSQueue[MAX]

Definition at line 37 of file base.c.

int lSRear = 0

Definition at line 39 of file base.c.

uint8_t MODE = 5

Definition at line 25 of file base.c.

uint8_t mode = 0

Definition at line 32 of file base.c.

uint16_t photocellReading

Definition at line 18 of file base.c.

uint8_t previousLaser = 0

Definition at line 30 of file base.c.

uint8_t previousMode = 0

Definition at line 33 of file base.c.

uint8_t ROOMBA = 4

Definition at line 24 of file base.c.

int rx

Definition at line 17 of file base.c.

int ry

Definition at line 17 of file base.c.

uint8_t SCREEN = 3

Definition at line 23 of file base.c.

uint8_t SERVO = 1

Definition at line 21 of file base.c.

int servoState = 375

Definition at line 27 of file base.c.

int x

Definition at line 16 of file base.c.

int y = 375

Definition at line 16 of file base.c.