diff --git a/Makefile b/Makefile
index 3d7e910ef731c963b9ecdc94dabfbdc99a8151f8..c2b71d716b0ee59e571c6cfbda37dac6ec39787f 100755
--- a/Makefile
+++ b/Makefile
@@ -13,6 +13,7 @@ TARGET_FILES+=src/scheduler.c
TARGET_FILES+=src/stm32f1xx_hal_msp.c
TARGET_FILES+=src/gpio.c
TARGET_FILES+=src/adc_dma.c
+TARGET_FILES+=src/thresholds.c
TARGET_PROCESSOR=STM32F103CB
HAL_PATH=$(STM32_HAL_PATH)/f1
diff --git a/include/ir_feet_conf.h b/include/ir_feet_conf.h
index 80e834b9ee6f35e4beef770a1f05867d6117ce6c..05893eb9857e8b3fa95e2e556c9332dd31bb992c 100644
--- a/include/ir_feet_conf.h
+++ b/include/ir_feet_conf.h
@@ -8,6 +8,10 @@
/* ADC registers base address */
#define RAM_ADC_DMA_BASE_ADDRESS ((unsigned short int)0x0020)
+/* threshold registers */
+#define EEPROM_THRESHOLDS_BASE_ADDRESS1 ((unsigned short int)0x0006)
+#define EEPROM_THRESHOLDS_BASE_ADDRESS2 ((unsigned short int)0x0011)
+
#define EEPROM_NUM_VAR 32
#define DEFAULT_DEVICE_MODEL 0x000c
@@ -17,4 +21,16 @@
#define DEFAULT_RETURN_DELAY 0x00
#define DEFAULT_RETURN_LEVEL 0x02
+#define DEFAULT_DOWN_LEFT_MIDDLE_THRES 0x0C00
+#define DEFAULT_DOWN_LEFT_REAR_THRES 0x0C00
+#define DEFAULT_DOWN_ANALOG_THRES 0x0C00
+#define DEFAULT_DOWN_LEFT_FRONT_THRES 0x0C00
+#define DEFAULT_DOWN_RIGHT_REAR_THRES 0x0C00
+#define DEFAULT_DOWN_RIGHT_MIDDLE_THRES 0x0C00
+#define DEFAULT_DOWN_RIGHT_FRONT_THRES 0x0C00
+#define DEFAULT_FRONT_LEFT_THRES 0x0C00
+#define DEFAULT_FRONT_RIGHT_THRES 0x0C00
+#define DEFAULT_FRONT_ANALOG_THRES 0x0C00
+
+
#endif
diff --git a/include/thresholds.h b/include/thresholds.h
new file mode 100644
index 0000000000000000000000000000000000000000..7744b4093e55219220b2c446f428f85e6a0d731f
--- /dev/null
+++ b/include/thresholds.h
@@ -0,0 +1,10 @@
+#ifndef _THRESHOLDS_H
+#define _THRESHOLDS_H
+
+#include "stm32f1xx.h"
+#include "memory.h"
+
+uint8_t thres_init(TMemory *memory);
+void thres_check(void);
+
+#endif
diff --git a/include/thresholds_registers.h b/include/thresholds_registers.h
new file mode 100644
index 0000000000000000000000000000000000000000..f5b042d0e59ce3446988bc5c07bd8e5d7e64f133
--- /dev/null
+++ b/include/thresholds_registers.h
@@ -0,0 +1,62 @@
+#ifndef _THRESHOLDS_REGISTERS_H
+#define _THRESHOLDS_REGISTERS_H
+
+#include "ir_feet_conf.h"
+
+#ifndef EEPROM_THRESHOLDS_BASE_ADDRESS1
+ #define EEPROM_THRESHOLDS_BASE_ADDRESS1 ((unsigned short int)0x0000)
+#endif
+
+#ifndef EEPROM_THRESHOLDS_BASE_ADDRESS2
+ #define EEPROM_THRESHOLDS_BASE_ADDRESS2 ((unsigned short int)0x0000)
+#endif
+
+#define EEPROM_THRESHOLDS_LENGTH1 10
+
+#define EEPROM_THRESHOLDS_LENGTH2 10
+
+#define DOWN_LEFT_MIDDLE_THRES EEPROM_THRESHOLDS_BASE_ADDRESS1
+#define DOWN_LEFT_REAR_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS1+2)
+#define DOWN_ANALOG_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS1+4)
+#define DOWN_LEFT_FRONT_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS1+6)
+#define DOWN_RIGHT_REAR_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS1+8)
+#define DOWN_RIGHT_MIDDLE_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS2)
+#define DOWN_RIGHT_FRONT_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS2+2)
+#define FRONT_LEFT_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS2+4)
+#define FRONT_RIGHT_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS2+6)
+#define FRONT_ANALOG_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS2+8)
+
+#ifndef DEFAULT_DOWN_LEFT_MIDDLE_THRES
+ #define DEFAULT_DOWN_LEFT_MIDDLE_THRES 0x0000
+#endif
+#ifndef DEFAULT_DOWN_LEFT_REAR_THRES
+ #define DEFAULT_DOWN_LEFT_REAR_THRES 0x0000
+#endif
+#ifndef DEFAULT_DOWN_ANALOG_THRES
+ #define DEFAULT_DOWN_ANALOG_THRES 0x0000
+#endif
+#ifndef DEFAULT_DOWN_LEFT_FRONT_THRES
+ #define DEFAULT_DOWN_LEFT_FRONT_THRES 0x0000
+#endif
+#ifndef DEFAULT_DOWN_RIGHT_REAR_THRES
+ #define DEFAULT_DOWN_RIGHT_REAR_THRES 0x0000
+#endif
+
+#ifndef DEFAULT_DOWN_RIGHT_MIDDLE_THRES
+ #define DEFAULT_DOWN_RIGHT_MIDDLE_THRES 0x0000
+#endif
+#ifndef DEFAULT_DOWN_RIGHT_FRONT_THRES
+ #define DEFAULT_DOWN_RIGHT_FRONT_THRES 0x0000
+#endif
+#ifndef DEFAULT_FRONT_LEFT_THRES
+ #define DEFAULT_FRONT_LEFT_THRES 0x0000
+#endif
+#ifndef DEFAULT_FRONT_RIGHT_THRES
+ #define DEFAULT_FRONT_RIGHT_THRES 0x0000
+#endif
+#ifndef DEFAULT_FRONT_ANALOG_THRES
+ #define DEFAULT_FRONT_ANALOG_THRES 0x0000
+#endif
+
+#endif
+
diff --git a/src/gpio.c b/src/gpio.c
index 784ec57917b6239bfffaad8b83fcd0f0a6618862..4b4d7d3a2f28bdde407f891da6123de6f186f2dd 100644
--- a/src/gpio.c
+++ b/src/gpio.c
@@ -1,19 +1,19 @@
#include "gpio.h"
#define DOWN_RIGHT_FRONT_GPIO_CLK __GPIOB_CLK_ENABLE()
-#define DOWN_RIGHT_FRONT_PIN GPIO_PIN_8
+#define DOWN_RIGHT_FRONT_PIN GPIO_PIN_11
#define DOWN_RIGHT_FRONT_GPIO_PORT GPIOB
#define DOWN_RIGHT_REAR_GPIO_CLK __GPIOB_CLK_ENABLE()
-#define DOWN_RIGHT_REAR_PIN GPIO_PIN_9
+#define DOWN_RIGHT_REAR_PIN GPIO_PIN_10
#define DOWN_RIGHT_REAR_GPIO_PORT GPIOB
#define DOWN_LEFT_REAR_GPIO_CLK __GPIOB_CLK_ENABLE()
-#define DOWN_LEFT_REAR_PIN GPIO_PIN_7
+#define DOWN_LEFT_REAR_PIN GPIO_PIN_8
#define DOWN_LEFT_REAR_GPIO_PORT GPIOB
#define DOWN_LEFT_MIDDLE_GPIO_CLK __GPIOB_CLK_ENABLE()
-#define DOWN_LEFT_MIDDLE_PIN GPIO_PIN_11
+#define DOWN_LEFT_MIDDLE_PIN GPIO_PIN_9
#define DOWN_LEFT_MIDDLE_GPIO_PORT GPIOB
#define DOWN_RIGHT_MIDDLE_GPIO_CLK __GPIOB_CLK_ENABLE()
@@ -21,20 +21,20 @@
#define DOWN_RIGHT_MIDDLE_GPIO_PORT GPIOB
#define DOWN_LEFT_FRONT_GPIO_CLK __GPIOB_CLK_ENABLE()
-#define DOWN_LEFT_FRONT_PIN GPIO_PIN_10
+#define DOWN_LEFT_FRONT_PIN GPIO_PIN_7
#define DOWN_LEFT_FRONT_GPIO_PORT GPIOB
-#define FRONT_LEFT_GPIO_CLK __GPIOC_CLK_ENABLE()
-#define FRONT_LEFT_PIN GPIO_PIN_15
-#define FRONT_LEFT_GPIO_PORT GPIOC
+#define FRONT_LEFT_GPIO_CLK __GPIOB_CLK_ENABLE()
+#define FRONT_LEFT_PIN GPIO_PIN_14
+#define FRONT_LEFT_GPIO_PORT GPIOB
#define FRONT_RIGHT_GPIO_CLK __GPIOB_CLK_ENABLE()
-#define FRONT_RIGHT_PIN GPIO_PIN_14
+#define FRONT_RIGHT_PIN GPIO_PIN_13
#define FRONT_RIGHT_GPIO_PORT GPIOB
-#define DOWN_ANALOG_GPIO_CLK __GPIOB_CLK_ENABLE()
-#define DOWN_ANALOG_PIN GPIO_PIN_13
-#define DOWN_ANALOG_GPIO_PORT GPIOB
+#define DOWN_ANALOG_GPIO_CLK __GPIOC_CLK_ENABLE()
+#define DOWN_ANALOG_PIN GPIO_PIN_15
+#define DOWN_ANALOG_GPIO_PORT GPIOC
#define FRONT_ANALOG_GPIO_CLK __GPIOB_CLK_ENABLE()
#define FRONT_ANALOG_PIN GPIO_PIN_12
diff --git a/src/main.c b/src/main.c
index d18bbe5b84868748545ba1622ea74f8b7e186385..fee7fa87176c8a59c52e0a0d813143bb1d613eeb 100755
--- a/src/main.c
+++ b/src/main.c
@@ -7,6 +7,7 @@
#include "scheduler.h"
#include "gpio.h"
#include "adc_dma.h"
+#include "thresholds.h"
TMemory ir_feet_memory;
@@ -30,6 +31,8 @@ int main(void)
ir_feet_time_init();
// initialize the dynamixel slave interface
ir_feet_dyn_slave_init(&ir_feet_memory);
+ // initialize the thresholds module
+ thres_init(&ir_feet_memory);
// initialize the Dynamixel RAM memory space
ram_init(&ir_feet_memory);
@@ -37,6 +40,7 @@ int main(void)
while(1)/* main function does not return */
{
+ thres_check();
}
}
diff --git a/src/thresholds.c b/src/thresholds.c
new file mode 100755
index 0000000000000000000000000000000000000000..de27f8db1113da78cf78c23dc3cc063d4c7bd69b
--- /dev/null
+++ b/src/thresholds.c
@@ -0,0 +1,256 @@
+#include "thresholds.h"
+#include "thresholds_registers.h"
+#include "scheduler.h"
+#include "adc_dma.h"
+#include "gpio.h"
+#include "ram.h"
+
+uint16_t thres_eeprom_data[] __attribute__ ((section (".eeprom")))={DEFAULT_DOWN_LEFT_MIDDLE_THRES&0xFF,DOWN_LEFT_MIDDLE_THRES,
+ (DEFAULT_DOWN_LEFT_MIDDLE_THRES>>8)&0xFF,DOWN_LEFT_MIDDLE_THRES+1,
+ DEFAULT_DOWN_LEFT_REAR_THRES&0xFF,DOWN_LEFT_REAR_THRES,
+ (DEFAULT_DOWN_LEFT_REAR_THRES>>8)&0xFF,DOWN_LEFT_REAR_THRES+1,
+ DEFAULT_DOWN_ANALOG_THRES&0xFF,DOWN_ANALOG_THRES,
+ (DEFAULT_DOWN_ANALOG_THRES>>8)&0xFF,DOWN_ANALOG_THRES+1,
+ DEFAULT_DOWN_LEFT_FRONT_THRES&0xFF,DOWN_LEFT_FRONT_THRES,
+ (DEFAULT_DOWN_LEFT_FRONT_THRES>>8)&0xFF,DOWN_LEFT_FRONT_THRES+1,
+ DEFAULT_DOWN_RIGHT_REAR_THRES&0xFF,DOWN_RIGHT_REAR_THRES,
+ (DEFAULT_DOWN_RIGHT_REAR_THRES>>8)&0xFF,DOWN_RIGHT_REAR_THRES+1,
+ DEFAULT_DOWN_RIGHT_MIDDLE_THRES&0xFF,DOWN_RIGHT_MIDDLE_THRES,
+ (DEFAULT_DOWN_RIGHT_MIDDLE_THRES>>8)&0xFF,DOWN_RIGHT_MIDDLE_THRES+1,
+ DEFAULT_DOWN_RIGHT_FRONT_THRES&0xFF,DOWN_RIGHT_FRONT_THRES,
+ (DEFAULT_DOWN_RIGHT_FRONT_THRES>>8)&0xFF,DOWN_RIGHT_FRONT_THRES+1,
+ DEFAULT_FRONT_LEFT_THRES&0xFF,FRONT_LEFT_THRES,
+ (DEFAULT_FRONT_LEFT_THRES>>8)&0xFF,FRONT_LEFT_THRES+1,
+ DEFAULT_FRONT_RIGHT_THRES&0xFF,FRONT_RIGHT_THRES,
+ (DEFAULT_FRONT_RIGHT_THRES>>8)&0xFF,FRONT_RIGHT_THRES+1,
+ DEFAULT_FRONT_ANALOG_THRES&0xFF,FRONT_ANALOG_THRES,
+ (DEFAULT_FRONT_ANALOG_THRES>>8)&0xFF,FRONT_ANALOG_THRES+1};
+
+/* memory module */
+TMemModule thres_mem_module;
+uint16_t thresholds[10];
+
+// private functions
+void thres_write_cmd(unsigned short int address,unsigned short int length,unsigned char *data)
+{
+ uint8_t *data_ptr;
+
+ if(ram_in_window(DOWN_LEFT_MIDDLE_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[0];
+ if(ram_in_range(DOWN_LEFT_MIDDLE_THRES,address,length))
+ {
+ data_ptr[0]=data[DOWN_LEFT_MIDDLE_THRES-address];
+ ram_data[DOWN_LEFT_MIDDLE_THRES]=data[DOWN_LEFT_MIDDLE_THRES-address];
+ }
+ if(ram_in_range(DOWN_LEFT_MIDDLE_THRES+1,address,length))
+ {
+ data_ptr[1]=data[DOWN_LEFT_MIDDLE_THRES+1-address];
+ ram_data[DOWN_LEFT_MIDDLE_THRES+1]=data[DOWN_LEFT_MIDDLE_THRES+1-address];
+ }
+ }
+ if(ram_in_window(DOWN_LEFT_REAR_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[1];
+ if(ram_in_range(DOWN_LEFT_REAR_THRES,address,length))
+ {
+ data_ptr[0]=data[DOWN_LEFT_REAR_THRES-address];
+ ram_data[DOWN_LEFT_REAR_THRES]=data[DOWN_LEFT_REAR_THRES-address];
+ }
+ if(ram_in_range(DOWN_LEFT_REAR_THRES+1,address,length))
+ {
+ data_ptr[1]=data[DOWN_LEFT_REAR_THRES+1-address];
+ ram_data[DOWN_LEFT_REAR_THRES+1]=data[DOWN_LEFT_REAR_THRES+1-address];
+ }
+ }
+ if(ram_in_window(DOWN_ANALOG_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[2];
+ if(ram_in_range(DOWN_ANALOG_THRES,address,length))
+ {
+ data_ptr[0]=data[DOWN_ANALOG_THRES-address];
+ ram_data[DOWN_ANALOG_THRES]=data[DOWN_ANALOG_THRES-address];
+ }
+ if(ram_in_range(DOWN_ANALOG_THRES+1,address,length))
+ {
+ data_ptr[1]=data[DOWN_ANALOG_THRES+1-address];
+ ram_data[DOWN_ANALOG_THRES+1]=data[DOWN_ANALOG_THRES+1-address];
+ }
+ }
+ if(ram_in_window(DOWN_LEFT_FRONT_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[3];
+ if(ram_in_range(DOWN_LEFT_FRONT_THRES,address,length))
+ {
+ data_ptr[0]=data[DOWN_LEFT_FRONT_THRES-address];
+ ram_data[DOWN_LEFT_FRONT_THRES]=data[DOWN_LEFT_FRONT_THRES-address];
+ }
+ if(ram_in_range(DOWN_LEFT_FRONT_THRES+1,address,length))
+ {
+ data_ptr[1]=data[DOWN_LEFT_FRONT_THRES+1-address];
+ ram_data[DOWN_LEFT_FRONT_THRES+1]=data[DOWN_LEFT_FRONT_THRES+1-address];
+ }
+ }
+ if(ram_in_window(DOWN_RIGHT_REAR_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[4];
+ if(ram_in_range(DOWN_RIGHT_REAR_THRES,address,length))
+ {
+ data_ptr[0]=data[DOWN_RIGHT_REAR_THRES-address];
+ ram_data[DOWN_RIGHT_REAR_THRES]=data[DOWN_RIGHT_REAR_THRES-address];
+ }
+ if(ram_in_range(DOWN_RIGHT_REAR_THRES+1,address,length))
+ {
+ data_ptr[1]=data[DOWN_RIGHT_REAR_THRES+1-address];
+ ram_data[DOWN_RIGHT_REAR_THRES+1]=data[DOWN_RIGHT_REAR_THRES+1-address];
+ }
+ }
+ if(ram_in_window(DOWN_RIGHT_MIDDLE_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[5];
+ if(ram_in_range(DOWN_RIGHT_MIDDLE_THRES,address,length))
+ {
+ data_ptr[0]=data[DOWN_RIGHT_MIDDLE_THRES-address];
+ ram_data[DOWN_RIGHT_MIDDLE_THRES]=data[DOWN_RIGHT_MIDDLE_THRES-address];
+ }
+ if(ram_in_range(DOWN_RIGHT_MIDDLE_THRES+1,address,length))
+ {
+ data_ptr[1]=data[DOWN_RIGHT_MIDDLE_THRES+1-address];
+ ram_data[DOWN_RIGHT_MIDDLE_THRES+1]=data[DOWN_RIGHT_MIDDLE_THRES+1-address];
+ }
+ }
+ if(ram_in_window(DOWN_RIGHT_FRONT_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[6];
+ if(ram_in_range(DOWN_RIGHT_FRONT_THRES,address,length))
+ {
+ data_ptr[0]=data[DOWN_RIGHT_FRONT_THRES-address];
+ ram_data[DOWN_RIGHT_FRONT_THRES]=data[DOWN_RIGHT_FRONT_THRES-address];
+ }
+ if(ram_in_range(DOWN_RIGHT_FRONT_THRES+1,address,length))
+ {
+ data_ptr[1]=data[DOWN_RIGHT_FRONT_THRES+1-address];
+ ram_data[DOWN_RIGHT_FRONT_THRES+1]=data[DOWN_RIGHT_FRONT_THRES+1-address];
+ }
+ }
+ if(ram_in_window(FRONT_LEFT_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[7];
+ if(ram_in_range(FRONT_LEFT_THRES,address,length))
+ {
+ data_ptr[0]=data[FRONT_LEFT_THRES-address];
+ ram_data[FRONT_LEFT_THRES]=data[FRONT_LEFT_THRES-address];
+ }
+ if(ram_in_range(FRONT_LEFT_THRES+1,address,length))
+ {
+ data_ptr[1]=data[FRONT_LEFT_THRES+1-address];
+ ram_data[FRONT_LEFT_THRES+1]=data[FRONT_LEFT_THRES+1-address];
+ }
+ }
+ if(ram_in_window(FRONT_RIGHT_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[8];
+ if(ram_in_range(FRONT_RIGHT_THRES,address,length))
+ {
+ data_ptr[0]=data[FRONT_RIGHT_THRES-address];
+ ram_data[FRONT_RIGHT_THRES]=data[FRONT_RIGHT_THRES-address];
+ }
+ if(ram_in_range(FRONT_RIGHT_THRES+1,address,length))
+ {
+ data_ptr[1]=data[FRONT_RIGHT_THRES+1-address];
+ ram_data[FRONT_RIGHT_THRES+1]=data[FRONT_RIGHT_THRES+1-address];
+ }
+ }
+ if(ram_in_window(FRONT_ANALOG_THRES,2,address,length))
+ {
+ data_ptr=(uint8_t *)&thresholds[9];
+ if(ram_in_range(FRONT_ANALOG_THRES,address,length))
+ {
+ data_ptr[0]=data[FRONT_ANALOG_THRES-address];
+ ram_data[FRONT_ANALOG_THRES]=data[FRONT_ANALOG_THRES-address];
+ }
+ if(ram_in_range(FRONT_ANALOG_THRES+1,address,length))
+ {
+ data_ptr[1]=data[FRONT_ANALOG_THRES+1-address];
+ ram_data[FRONT_ANALOG_THRES+1]=data[FRONT_ANALOG_THRES+1-address];
+ }
+ }
+}
+
+void thres_read_cmd(unsigned short int address,unsigned short int length,unsigned char *data)
+{
+ ram_read_table(address,length,data);
+}
+
+// public functions
+uint8_t thres_init(TMemory *memory)
+{
+ /* initialize memory module */
+ mem_module_init(&thres_mem_module);
+ thres_mem_module.write_cmd=thres_write_cmd;
+ thres_mem_module.read_cmd=thres_read_cmd;
+ if(!mem_module_add_eeprom_segment(&thres_mem_module,EEPROM_THRESHOLDS_BASE_ADDRESS1,EEPROM_THRESHOLDS_LENGTH1))
+ return 0x00;
+ if(!mem_module_add_eeprom_segment(&thres_mem_module,EEPROM_THRESHOLDS_BASE_ADDRESS2,EEPROM_THRESHOLDS_LENGTH2))
+ return 0x00;
+ if(!mem_add_module(memory,&thres_mem_module))
+ return 0x00;
+
+ return 0x01;
+}
+
+void thres_check(void)
+{
+ uint16_t voltage;
+
+ voltage=adc_get_voltage(DOWN_LEFT_MIDDLE_CH);
+ if(voltage>thresholds[0])
+ gpio_set_led(DOWN_LEFT_MIDDLE);
+ else
+ gpio_clear_led(DOWN_LEFT_MIDDLE);
+ voltage=adc_get_voltage(DOWN_LEFT_REAR_CH);
+ if(voltage>thresholds[1])
+ gpio_set_led(DOWN_LEFT_REAR);
+ else
+ gpio_clear_led(DOWN_LEFT_REAR);
+ voltage=adc_get_voltage(DOWN_ANALOG_CH);
+ if(voltage>thresholds[2])
+ gpio_set_led(DOWN_ANALOG);
+ else
+ gpio_clear_led(DOWN_ANALOG);
+ voltage=adc_get_voltage(DOWN_LEFT_FRONT_CH);
+ if(voltage>thresholds[3])
+ gpio_set_led(DOWN_LEFT_FRONT);
+ else
+ gpio_clear_led(DOWN_LEFT_FRONT);
+ voltage=adc_get_voltage(DOWN_RIGHT_REAR_CH);
+ if(voltage>thresholds[4])
+ gpio_set_led(DOWN_RIGHT_REAR);
+ else
+ gpio_clear_led(DOWN_RIGHT_REAR);
+ voltage=adc_get_voltage(DOWN_RIGHT_MIDDLE_CH);
+ if(voltage>thresholds[5])
+ gpio_set_led(DOWN_RIGHT_MIDDLE);
+ else
+ gpio_clear_led(DOWN_RIGHT_MIDDLE);
+ voltage=adc_get_voltage(DOWN_RIGHT_FRONT_CH);
+ if(voltage>thresholds[6])
+ gpio_set_led(DOWN_RIGHT_FRONT);
+ else
+ gpio_clear_led(DOWN_RIGHT_FRONT);
+ voltage=adc_get_voltage(FRONT_LEFT_CH);
+ if(voltage>thresholds[7])
+ gpio_set_led(FRONT_LEFT);
+ else
+ gpio_clear_led(FRONT_LEFT);
+ voltage=adc_get_voltage(FRONT_RIGHT_CH);
+ if(voltage>thresholds[8])
+ gpio_set_led(FRONT_RIGHT);
+ else
+ gpio_clear_led(FRONT_RIGHT);
+ voltage=adc_get_voltage(FRONT_ANALOG_CH);
+ if(voltage>thresholds[9])
+ gpio_set_led(FRONT_ANALOG);
+ else
+ gpio_clear_led(FRONT_ANALOG);
+}