morse.c

Go to the documentation of this file.

/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2010:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU Lesser General Public License as published
        by the Free Software Foundation, version 3 of the License.
        
        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU Lesser General Public License for more details.
        
        You should have received a copy of the GNU Lesser General Public License
        along with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#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();
}