diff --git a/include/ir_feet_conf.h b/include/ir_feet_conf.h
index 05893eb9857e8b3fa95e2e556c9332dd31bb992c..19987ad9450903473e55a34c0bbd61e83e3f665b 100644
--- a/include/ir_feet_conf.h
+++ b/include/ir_feet_conf.h
@@ -11,6 +11,7 @@
/* threshold registers */
#define EEPROM_THRESHOLDS_BASE_ADDRESS1 ((unsigned short int)0x0006)
#define EEPROM_THRESHOLDS_BASE_ADDRESS2 ((unsigned short int)0x0011)
+#define RAM_THRESHOLDS_BASE_ADDRESS ((unsigned short int)0x0038)
#define EEPROM_NUM_VAR 32
diff --git a/include/thresholds_registers.h b/include/thresholds_registers.h
index f5b042d0e59ce3446988bc5c07bd8e5d7e64f133..91dcc15a3408ca7ef4f0fdf9cc572da0fa8d003a 100644
--- a/include/thresholds_registers.h
+++ b/include/thresholds_registers.h
@@ -11,10 +11,16 @@
#define EEPROM_THRESHOLDS_BASE_ADDRESS2 ((unsigned short int)0x0000)
#endif
+#ifndef RAM_THRESHOLDS_BASE_ADDRESS
+ #define RAM_THRESHOLDS_BASE_ADDRESS ((unsigned short int)0x0000)
+#endif
+
#define EEPROM_THRESHOLDS_LENGTH1 10
#define EEPROM_THRESHOLDS_LENGTH2 10
+#define RAM_THRESHOLDS_LENGTH 2
+
#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)
@@ -26,6 +32,24 @@
#define FRONT_RIGHT_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS2+6)
#define FRONT_ANALOG_THRES (EEPROM_THRESHOLDS_BASE_ADDRESS2+8)
+#define THRESHOLDS RAM_THRESHOLDS_BASE_ADDRESS
+ // bit 0 -> DOWN_LEFT_MIDDLE_THRES
+ // bit 1 -> DOWN_LEFT_REAR_THRES
+ // bit 2 -> DOWN_ANALOG_THRES
+ // bit 3 -> DOWN_LEFT_FRONT_THRES
+ // bit 4 -> DOWN_RIGHT_REAR_THRES
+ // bit 5 -> DOWN_RIGHT_MIDDLE_THRES
+ // bit 6 -> DOWN_RIGHT_FRONT_THRES
+ // bit 7 -> FRONT_LEFT_THRES
+ // bit 8 -> FRONT_RIGHT_THRES
+ // bit 9 -> FRONT_ANALOG_THRES
+ // bit 10 ->
+ // bit 11 ->
+ // bit 12 ->
+ // bit 13 ->
+ // bit 14 ->
+ // bit 15 ->
+
#ifndef DEFAULT_DOWN_LEFT_MIDDLE_THRES
#define DEFAULT_DOWN_LEFT_MIDDLE_THRES 0x0000
#endif
@@ -58,5 +82,16 @@
#define DEFAULT_FRONT_ANALOG_THRES 0x0000
#endif
+#define DOWN_LEFT_MIDDLE_BIT 0x01
+#define DOWN_LEFT_REAR_BIT 0x02
+#define DOWN_ANALOG_BIT 0x04
+#define DOWN_LEFT_FRONT_BIT 0x08
+#define DOWN_RIGHT_REAR_BIT 0x10
+#define DOWN_RIGHT_MIDDLE_BIT 0x20
+#define DOWN_RIGHT_FRONT_BIT 0x40
+#define FRONT_LEFT_BIT 0x80
+#define FRONT_RIGHT_BIT 0x01
+#define FRONT_ANALOG_BIT 0x02
+
#endif
diff --git a/src/thresholds.c b/src/thresholds.c
index de27f8db1113da78cf78c23dc3cc063d4c7bd69b..3e4c662e91b53cd12ed09c0247f4db859ffe5df8 100755
--- a/src/thresholds.c
+++ b/src/thresholds.c
@@ -193,6 +193,8 @@ uint8_t thres_init(TMemory *memory)
return 0x00;
if(!mem_module_add_eeprom_segment(&thres_mem_module,EEPROM_THRESHOLDS_BASE_ADDRESS2,EEPROM_THRESHOLDS_LENGTH2))
return 0x00;
+ if(!mem_module_add_ram_segment(&thres_mem_module,RAM_THRESHOLDS_BASE_ADDRESS,RAM_THRESHOLDS_LENGTH))
+ return 0x00;
if(!mem_add_module(memory,&thres_mem_module))
return 0x00;
@@ -205,52 +207,112 @@ void thres_check(void)
voltage=adc_get_voltage(DOWN_LEFT_MIDDLE_CH);
if(voltage>thresholds[0])
+ {
gpio_set_led(DOWN_LEFT_MIDDLE);
+ ram_data[THRESHOLDS]|=DOWN_LEFT_MIDDLE_BIT;
+ }
else
+ {
gpio_clear_led(DOWN_LEFT_MIDDLE);
+ ram_data[THRESHOLDS]&=(~DOWN_LEFT_MIDDLE_BIT);
+ }
voltage=adc_get_voltage(DOWN_LEFT_REAR_CH);
if(voltage>thresholds[1])
+ {
gpio_set_led(DOWN_LEFT_REAR);
+ ram_data[THRESHOLDS]|=DOWN_LEFT_REAR_BIT;
+ }
else
+ {
gpio_clear_led(DOWN_LEFT_REAR);
+ ram_data[THRESHOLDS]&=(~DOWN_LEFT_REAR_BIT);
+ }
voltage=adc_get_voltage(DOWN_ANALOG_CH);
if(voltage>thresholds[2])
+ {
gpio_set_led(DOWN_ANALOG);
+ ram_data[THRESHOLDS]|=DOWN_ANALOG_BIT;
+ }
else
+ {
gpio_clear_led(DOWN_ANALOG);
+ ram_data[THRESHOLDS]&=(~DOWN_ANALOG_BIT);
+ }
voltage=adc_get_voltage(DOWN_LEFT_FRONT_CH);
if(voltage>thresholds[3])
+ {
gpio_set_led(DOWN_LEFT_FRONT);
+ ram_data[THRESHOLDS]|=DOWN_LEFT_FRONT_BIT;
+ }
else
+ {
gpio_clear_led(DOWN_LEFT_FRONT);
+ ram_data[THRESHOLDS]&=(~DOWN_LEFT_FRONT_BIT);
+ }
voltage=adc_get_voltage(DOWN_RIGHT_REAR_CH);
if(voltage>thresholds[4])
+ {
gpio_set_led(DOWN_RIGHT_REAR);
+ ram_data[THRESHOLDS]|=DOWN_RIGHT_REAR_BIT;
+ }
else
+ {
gpio_clear_led(DOWN_RIGHT_REAR);
+ ram_data[THRESHOLDS]&=(~DOWN_RIGHT_REAR_BIT);
+ }
voltage=adc_get_voltage(DOWN_RIGHT_MIDDLE_CH);
if(voltage>thresholds[5])
+ {
gpio_set_led(DOWN_RIGHT_MIDDLE);
+ ram_data[THRESHOLDS]|=DOWN_RIGHT_MIDDLE_BIT;
+ }
else
+ {
gpio_clear_led(DOWN_RIGHT_MIDDLE);
+ ram_data[THRESHOLDS]&=(~DOWN_RIGHT_MIDDLE_BIT);
+ }
voltage=adc_get_voltage(DOWN_RIGHT_FRONT_CH);
if(voltage>thresholds[6])
+ {
gpio_set_led(DOWN_RIGHT_FRONT);
+ ram_data[THRESHOLDS]|=DOWN_RIGHT_FRONT_BIT;
+ }
else
+ {
gpio_clear_led(DOWN_RIGHT_FRONT);
+ ram_data[THRESHOLDS]&=(~DOWN_RIGHT_FRONT_BIT);
+ }
voltage=adc_get_voltage(FRONT_LEFT_CH);
if(voltage>thresholds[7])
+ {
gpio_set_led(FRONT_LEFT);
+ ram_data[THRESHOLDS]|=FRONT_LEFT_BIT;
+ }
else
+ {
gpio_clear_led(FRONT_LEFT);
+ ram_data[THRESHOLDS]&=(~FRONT_LEFT_BIT);
+ }
voltage=adc_get_voltage(FRONT_RIGHT_CH);
if(voltage>thresholds[8])
+ {
gpio_set_led(FRONT_RIGHT);
+ ram_data[THRESHOLDS+1]|=FRONT_RIGHT_BIT;
+ }
else
+ {
gpio_clear_led(FRONT_RIGHT);
+ ram_data[THRESHOLDS+1]&=(~FRONT_RIGHT_BIT);
+ }
voltage=adc_get_voltage(FRONT_ANALOG_CH);
if(voltage>thresholds[9])
+ {
gpio_set_led(FRONT_ANALOG);
+ ram_data[THRESHOLDS+1]|=FRONT_ANALOG_BIT;
+ }
else
+ {
gpio_clear_led(FRONT_ANALOG);
+ ram_data[THRESHOLDS+1]&=(~FRONT_ANALOG_BIT);
+ }
}