static int mxt_proc_proximity_msg(struct plugin_ac *p,unsigned long pl_flag)
{
const struct mxt_config *dcfg = p->dcfg;
struct device *dev = dcfg->dev;
struct t72_observer *obs = p->obs;
int ret;
dev_info2(dev, "mxt t72 at mxt_proc_proximity_msg flag 0x%lx pl_flag 0x%lx\n",obs->flag,pl_flag);
//proximity
if (test_flag(IRAD_FLAG_PROXIMITY_DETECTED, &obs->flag)) {
proximity_enable(true);
ret = get_proximity_data();
if (ret != 0) {
dev_info(dev, "mxt t72 proximity removed\n");
clear_flag(IRAD_FLAG_PROXIMITY_DETECTED, &obs->flag);
p->set_and_clr_flag(p->dev, PL_STATUS_FLAG_PROXIMITY_REMOVED, 0);
}
proximity_enable(false);
}else if (test_flag(/*T72_FLAG_CAL*/T72_FLAG_RESUME, &obs->flag)) {//only check when proximity not detected
proximity_enable(true);
ret = get_proximity_data();
if (ret == 0) {
dev_info(dev, "mxt t72 proximity detected\n");
set_flag(IRAD_FLAG_PROXIMITY_DETECTED, &obs->flag);
}else {
dev_info(dev, "mxt t72 proximity not detected\n");
clear_flag(IRAD_FLAG_PROXIMITY_DETECTED, &obs->flag);
}
proximity_enable(false);
}
return 0;
}
actionResponse NavStack::DetectObstacle(Anshu *AnshuPtr,LocStack *Loc){
struct ultrasonic_sensor_data uss_data;
uss_data=get_proximity_data();
AnshuPtr->set_isFrontObs((uss_data.uss_f<24.0)?true:false);
AnshuPtr->set_isRearObs((uss_data.uss_b<24.0)?true:false);
AnshuPtr->set_isRightObs((uss_data.uss_r<24.0)?true:false);
AnshuPtr->set_isLeftObs((uss_data.uss_l<24.0)?true:false);
ResolveObstacle(AnshuPtr,Loc);
// Following code not implemented. Was for an alternate implementation of
// the bot rangefinders mounted on a servo to rotate around and take measurements.
//AnshuPtr->setObstacle(obs_f,false,false,false);
//if(AnshuPtr->isObstacle.is_front)
//Scan
//Set Pwm to 0
//wait(25ms)
// Read sensor data
// Load into Obstacle variable
//Increment PWM by 90 and do twice till PWM = 180
//If for character byte any bit is 1 then obstacle detected
return Ok;
}
