/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/targets/can-translator/morse.c

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#include <gpio/gpio.h>
#include <error/error.h>
#include <types/types.h>
#include <clock/clock.h>

// One dot is 0.5 sec
// One dash is 3 dots
// a space between two letter is three dots
// a space between two words is seven dots

static void wait_dot(void) {
        int i;
        for(i = 0; i < 50; i++)
                clock_delay_us(10000);
}       
        
        
static void wait_dash(void) {
        int i;
        for(i = 0; i < 3; i++)
                wait_dot();
}

static void wait_morse_letter(void) {
        int i;
        for(i = 0; i < 3; i++)
                wait_dot();
}

static void wait_morse_word(void) {
        int i;
        for(i = 0; i < 7; i++)
                wait_dot();
}

static void morse_dash(gpio led, int on, int off) {
        gpio_write(led, on);
        wait_dash();
        gpio_write(led, off);
        wait_dot();
}

static void morse_dot(gpio led, int on, int off) {
        gpio_write(led, on);
        wait_dot();
        gpio_write(led, off);
        wait_dot();
}

static void morse_number(unsigned int disp, gpio led, int on, int off) {
        switch(disp) {
                case 0:
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        break;
                case 1:
                        morse_dot(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        break;
                case 2:
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        break;
                case 3:
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        break;
                case 4:
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dash(led, on, off);
                        break;
                case 5:
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        break;
                case 6:
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        break;
                case 7:
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        break;
                case 8:
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        break;
                case 9:
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        break;
                case 0xa:
                        morse_dot(led, on, off);
                        morse_dash(led, on, off);
                        break;
                case 0xb:
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        break;
                case 0xc:
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        break;
                case 0xd:
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        break;
                case 0xe:
                        morse_dot(led, on, off);
                        break;
                case 0xf:
                        morse_dot(led, on, off);
                        morse_dot(led, on, off);
                        morse_dash(led, on, off);
                        morse_dot(led, on, off);
                        break;
        }
}

void output_error(unsigned int value, gpio led, int on, int off) {
        int shift;
        bool hasSent = false;
        for (shift = 12; shift >= 0; shift -= 4)
        {
                unsigned disp = ((value & (0xF << shift)) >> shift);

                if ((disp != 0) || (hasSent) || (shift == 0))
                {
                        hasSent = true;
                        morse_number(disp, led, on, off);
                        wait_morse_letter();
                }
        }
        wait_morse_word();
}

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011