00001 /**@file 00002 * 00003 * Decode simulated IO vector. 00004 * 00005 * @author Denis Martin 00006 * 00007 * This program is free software; you can redistribute it and/or modify it under 00008 * the terms of the GNU General Public License as published by the Free Software 00009 * Foundation; either version 2 of the License, or (at your option) any later 00010 * version. 00011 * This program is distributed in the hope that it will be useful, but WITHOUT 00012 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS 00013 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more 00014 * details. You should have received a copy of the GNU General Public License 00015 * along with this program; if not, write to the Free Software Foundation, Inc., 00016 * 59 Temple Place, Suite 330, Boston, MA 02111-1307, USA. 00017 */ 00018 00019 #include "asuro_defs.h" 00020 #include "asuro_unix.h" 00021 #include "asuro_unix_decode.h" 00022 00023 #include "stdio.h" 00024 00025 extern volatile double AS_unix_simTime; 00026 00027 /** 00028 * Evaluate state of IO vector 00029 */ 00030 void AS_unix_decode() { 00031 char leds[8]; 00032 00033 // status LED 00034 if (PORTB & AS_PB_LED_GREEN) { 00035 if (PORTD & AS_PD_LED_RED) { 00036 leds[0] = 'Y'; // yellow 00037 00038 } else { 00039 leds[0] = 'G'; // green 00040 00041 } 00042 00043 } else if (PORTD & AS_PD_LED_RED) { 00044 leds[0] = 'R'; // red 00045 00046 } else { 00047 leds[0] = '0'; // off 00048 00049 } 00050 00051 // front and back LEDs 00052 leds[1] = PORTD & AS_PD_LED_FRONT ? '1' : '0'; 00053 leds[2] = PORTC & AS_PC_LED_LBACK ? '1' : '0'; 00054 leds[3] = PORTC & AS_PC_LED_RBACK ? '1' : '0'; 00055 leds[4] = '-'; 00056 00057 // odometry and IR LEDs 00058 leds[5] = PORTD & AS_PD_LED_ODO ? '1' : '0'; 00059 leds[6] = PORTB & AS_PB_LED_IRTX ? '1' : '0'; 00060 00061 leds[7] = '\0'; 00062 00063 fprintf(stderr, "%6.2f LD %s\r", AS_unix_simTime, leds); 00064 00065 }
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