/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/targets/e-puck/epuckaseba.c File Reference

#include <p30f6014a.h>
#include "e-puck/library/motor_led/e_epuck_ports.h"
#include "e-puck/library/motor_led/e_init_port.h"
#include "e-puck/library/motor_led/e_led.h"
#include "e-puck/library/motor_led/advance_one_timer/e_motors.h"
#include "e-puck/library/motor_led/advance_one_timer/e_agenda.h"
#include "e-puck/library/camera/fast_2_timer/e_poxxxx.h"
#include "e-puck/library/uart/e_uart_char.h"
#include "e-puck/library/a_d/advance_ad_scan/e_ad_conv.h"
#include "e-puck/library/a_d/advance_ad_scan/e_prox.h"
#include "e-puck/library/a_d/advance_ad_scan/e_acc.h"
#include "e-puck/library/I2C/e_I2C_protocol.h"
#include "libpic30.h"
#include <string.h>
#include <vm/vm.h>
#include <common/consts.h>
#include <vm/natives.h>
#include <transport/buffer/vm-buffer.h>

Include dependency graph for epuckaseba.c:

Go to the source code of this file.

Defines
#define	argsSize   32
#define	ASEBA_ASSERT
#define	CAM_BLUE(pixel)   ( 3 * (((pixel) >> 8) & 0x1f))
#define	CAM_GREEN(pixel)   ((3 * ((((pixel) & 0x7) << 3) | ((pixel) >> 13))) >> 1)
#define	CAM_RED(pixel)   ( 3 * (((pixel) >> 3) & 0x1f))
#define	CLAMP(v, vmin, vmax)   ((v) < (vmin) ? (vmin) : (v) > (vmax) ? (vmax) : (v))
#define	CLEAR_EVENT(event)   do {events_flags &= ~(1 << event);} while(0)
#define	IS_EVENT(event)   (events_flags & (1 << event))
#define	LIS_GROUND_SENSORS
#define	SET_EVENT(event)   do {events_flags |= 1 << event;} while(0)
#define	VM_BYTECODE_SIZE   1024
#define	VM_STACK_SIZE   32
#define	vmStackSize   32
#define	vmVariablesSize   (sizeof(struct EPuckVariables) / sizeof(sint16))
Enumerations
enum	Events {   YOUR_FIRST_EVENT = 0, YOUR_SECOND_EVENT, EVENTS_COUNT, EVENT_IR_SENSORS = 0,   EVENT_CAMERA, EVENTS_COUNT }
Functions
unsigned int	__attribute ((far))
	__attribute__ ((far))
void	AsebaAssert (AsebaVMState *vm, AsebaAssertReason reason)
uint16	AsebaGetBuffer (AsebaVMState *vm, uint8 *data, uint16 maxLength, uint16 *source)
const AsebaLocalEventDescription *	AsebaGetLocalEventsDescriptions (AsebaVMState *vm)
const AsebaNativeFunctionDescription *const *	AsebaGetNativeFunctionsDescriptions (AsebaVMState *vm)
const AsebaVMDescription *	AsebaGetVMDescription (AsebaVMState *vm)
void	AsebaNativeFunction (AsebaVMState *vm, uint16 id)
void	AsebaPutVmToSleep (AsebaVMState *vm)
void	AsebaResetIntoBootloader (AsebaVMState *vm)
void	AsebaSendBuffer (AsebaVMState *vm, const uint8 *data, uint16 length)
void	AsebaWriteBytecode (AsebaVMState *vm)
void	EpuckNative_get_ground_values (AsebaVMState *vm)
void	initAseba ()
void	initRobot ()
int	main ()
uint16	uartGetUInt16 ()
uint8	uartGetUInt8 ()
void	uartSendUInt16 (uint16 value)
void	uartSendUInt8 (uint8 value)
void	updateRobotVariables ()
Variables
int	e_ambient_and_reflected_ir [8]
AsebaNativeFunctionDescription	EpuckNativeDescription_get_ground_values
static unsigned int	events_flags = 0
static const AsebaLocalEventDescription	localEvents []
static AsebaNativeFunctionPointer	nativeFunctions []
static const AsebaNativeFunctionDescription *	nativeFunctionsDescription []
static uint16	vmBytecode [VM_BYTECODE_SIZE]
static sint16	vmStack [VM_STACK_SIZE]
static AsebaVMState	vmState

---

Define Documentation

#define argsSize   32

Definition at line 60 of file epuckaseba.c.

#define ASEBA_ASSERT

Definition at line 50 of file epuckaseba.c.

#define CAM_BLUE

(

pixel

)

( 3 * (((pixel) >> 8) & 0x1f))

#define CAM_GREEN

(

pixel

)

((3 * ((((pixel) & 0x7) << 3) | ((pixel) >> 13))) >> 1)

#define CAM_RED

(

pixel

)

( 3 * (((pixel) >> 3) & 0x1f))

#define CLAMP	(	v,
		vmin,
		vmax		)	((v) < (vmin) ? (vmin) : (v) > (vmax) ? (vmax) : (v))

#define CLEAR_EVENT

(

event

)

do {events_flags &= ~(1 << event);} while(0)

#define IS_EVENT

(

event

)

(events_flags & (1 << event))

#define LIS_GROUND_SENSORS

Definition at line 56 of file epuckaseba.c.

#define SET_EVENT

(

event

)

do {events_flags |= 1 << event;} while(0)

#define VM_BYTECODE_SIZE   1024

#define VM_STACK_SIZE   32

#define vmStackSize   32

Definition at line 59 of file epuckaseba.c.

#define vmVariablesSize   (sizeof(struct EPuckVariables) / sizeof(sint16))

Definition at line 58 of file epuckaseba.c.

---

Enumeration Type Documentation

enum Events

Enumerator:

YOUR_FIRST_EVENT
YOUR_SECOND_EVENT
EVENTS_COUNT
EVENT_IR_SENSORS
EVENT_CAMERA
EVENTS_COUNT

Definition at line 173 of file epuckaseba.c.

---

Function Documentation

unsigned int __attribute

(

(far)

)

Definition at line 63 of file epuckaseba.c.

__attribute__

(

(far)

)

Definition at line 118 of file epuckaseba.c.

void AsebaAssert	(	AsebaVMState *	vm,
		AsebaAssertReason	reason
	)

Definition at line 366 of file epuckaseba.c.

void EpuckNative_get_ground_values

(

AsebaVMState *

vm

)

Definition at line 192 of file epuckaseba.c.

void initAseba

(

)

Definition at line 427 of file epuckaseba.c.

void initRobot

(

)

Definition at line 372 of file epuckaseba.c.

int main

(

void

)

Definition at line 440 of file epuckaseba.c.

uint16 uartGetUInt16

(

)

Definition at line 278 of file epuckaseba.c.

uint8 uartGetUInt8

(

)

Definition at line 270 of file epuckaseba.c.

void uartSendUInt16

(

uint16

value

)

Definition at line 255 of file epuckaseba.c.

void uartSendUInt8

(

uint8

value

)

Definition at line 249 of file epuckaseba.c.

void updateRobotVariables

(

)

Definition at line 307 of file epuckaseba.c.

---

Variable Documentation

int e_ambient_and_reflected_ir[8]

AsebaNativeFunctionDescription EpuckNativeDescription_get_ground_values

Initial value:

{
        "get_ground_values",
        "read the values of the ground sensors",
        {
                { 3, "dest" },
                { 0, 0 }
        }
}

Definition at line 209 of file epuckaseba.c.

unsigned int events_flags = 0 [static]

Definition at line 172 of file epuckaseba.c.

const AsebaLocalEventDescription localEvents[] [static]

Initial value:

 { 
        {"ir_sensors", "New IR sensors values available"},
        {"camera", "New camera picture available"},
        { NULL, NULL }
}

Definition at line 180 of file epuckaseba.c.

AsebaNativeFunctionPointer nativeFunctions[] [static]

Initial value:

 {
        ASEBA_NATIVES_STD_FUNCTIONS,

        EpuckNative_get_ground_values,

}

Definition at line 228 of file epuckaseba.c.

const AsebaNativeFunctionDescription* nativeFunctionsDescription[] [static]

Initial value:

 {
        ASEBA_NATIVES_STD_DESCRIPTIONS,

        &EpuckNativeDescription_get_ground_values,

        0       
}

Definition at line 220 of file epuckaseba.c.

uint16 vmBytecode[VM_BYTECODE_SIZE] [static]

Definition at line 145 of file epuckaseba.c.

sint16 vmStack[VM_STACK_SIZE] [static]

Definition at line 149 of file epuckaseba.c.

AsebaVMState vmState [static]

Initial value:

 {
        0x1,
        
        VM_BYTECODE_SIZE,
        vmBytecode,
        
        sizeof(ePuckVariables) / sizeof(sint16),
        (sint16*)&ePuckVariables,

        VM_STACK_SIZE,
        vmStack
}

Definition at line 151 of file epuckaseba.c.