From 655dd7522fb60e2ef0e68437337178184109f347 Mon Sep 17 00:00:00 2001
From: sicarius <devnull@localhost>
Date: Thu, 22 Feb 2007 13:12:03 +0000
Subject: Codework

---
 .../Concept/Framework/modules/input/distance_sensor.c | 19 +++++++++++++++++--
 source/Concept/Framework/modules/input/ir_sensor.c    |  2 +-
 source/Concept/Framework/modules/input/ir_sensor.h    |  7 +++++++
 3 files changed, 25 insertions(+), 3 deletions(-)

(limited to 'source/Concept/Framework/modules/input')

diff --git a/source/Concept/Framework/modules/input/distance_sensor.c b/source/Concept/Framework/modules/input/distance_sensor.c
index 262d35f..e6fd3f8 100755
--- a/source/Concept/Framework/modules/input/distance_sensor.c
+++ b/source/Concept/Framework/modules/input/distance_sensor.c
@@ -5,21 +5,36 @@ float Distance_Sensor::GetDistance()
 {
 	uint32 result = 0;
 
+	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Gen Pulse; Pin:",1,4);
+	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
+	
+	msleep(500);
+
 	//Generate pulse
 	*hardwareDDR |= pin;//Set pin output
 	*hardwarePort |= pin;//Activate port
 	usleep(10);//Wait for 10µs
-	*hardwarePort &= ~pin;//Deactivate port
 	*hardwareDDR &= ~pin;//Set pin input
+	*hardwarePort &= ~pin;//Deactivate port
 
+	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print("Wait response; Pin:",1,4);	
+	//(parent->GetModule<Display>(IO_DISPLAY_MAIN))->Print((int)(*hardwarePin & pin));
+	
+	uint16 i;
 	//Wait for response
-	for(uint16 i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
+	for(i = 0; (!(*hardwarePin & pin)) && (i < 1000); i++) { asm volatile("nop"); }
 	
 	//Calculate duration of response
 	while((*hardwarePin & pin)&&(result < 300000)) 
 	{
 		result++;
 		asm volatile("nop");
+		asm volatile("nop");
+		asm volatile("nop");
+		asm volatile("nop");
+		asm volatile("nop");
+		asm volatile("nop");
+		asm volatile("nop");
 	}
 
 	return (float(result) * DISTANCE_PER_VALUE);
diff --git a/source/Concept/Framework/modules/input/ir_sensor.c b/source/Concept/Framework/modules/input/ir_sensor.c
index c34feed..12d74e0 100755
--- a/source/Concept/Framework/modules/input/ir_sensor.c
+++ b/source/Concept/Framework/modules/input/ir_sensor.c
@@ -5,5 +5,5 @@ uint16 IR_Sensor::GetIRIntensity()
 {
 	if(!parent) return 0;
 
-	return parent->GetADCValue(channel);
+	return min(parent->GetADCValue(channel) + this->intensityCorrection, 1023);
 }
diff --git a/source/Concept/Framework/modules/input/ir_sensor.h b/source/Concept/Framework/modules/input/ir_sensor.h
index 30e6ea4..74396ec 100755
--- a/source/Concept/Framework/modules/input/ir_sensor.h
+++ b/source/Concept/Framework/modules/input/ir_sensor.h
@@ -12,12 +12,14 @@ public:
 	{
 		this->parent = NULL;
 		this->moduleId = 0;
+		this->intensityCorrection = 0;
 	}
 
 	IR_Sensor(uint32 sensorId)
 	{
 		this->parent = NULL;
 		this->moduleId = sensorId;
+		this->intensityCorrection = 0;
 
 		switch(sensorId)
 		{
@@ -32,12 +34,15 @@ public:
 				break;
 			case IO_SENSOR_IR_100_DEG:
 				this->channel = 3;
+				this->intensityCorrection = 40;
 				break;
 			case IO_SENSOR_IR_180_DEG:
 				this->channel = 4;
+				this->intensityCorrection = 50;
 				break;
 			case IO_SENSOR_IR_260_DEG:
 				this->channel = 5;
+				this->intensityCorrection = 70;
 				break;
 			case IO_SENSOR_IR_300_DEG:
 				this->channel = 6;
@@ -55,6 +60,8 @@ protected:
 	//Hardware
 	uint8 channel;
 
+	uint8 intensityCorrection;
+
 public:
 	uint16 GetIRIntensity();
 };
-- 
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