void ground_map_loop()
{
// check for new position
int pos = (int)( get_lat_position_cm() / MAP_RESOLUTION );
if( pos > last_pos ) {
//map_sensor_to_index( RIGHT_DISTANCE_SENSOR, mod_pos( pos + MAP_SIZE/2, MAP_SIZE ) );
ground_map_buffer[mod_pos( pos + MAP_SIZE/2, MAP_SIZE )] = get_distance( RIGHT_DISTANCE_SENSOR );
} else if( pos < last_pos ) {
ground_map_buffer[mod_pos( pos - MAP_SIZE/2, MAP_SIZE )] = get_distance( LEFT_DISTANCE_SENSOR );
//map_sensor_to_index( LEFT_DISTANCE_SENSOR, mod_pos( pos - MAP_SIZE/2, MAP_SIZE ) );
}
// check if in safe zone
static bool cur_safe = false;
if( last_pos != pos ) {
bool new_safe = safe_zone();
if( new_safe != cur_safe ) {
cur_safe = new_safe;
if( new_safe ) {
Serial.println( "Safe" );
digitalWrite( 13, HIGH );
set_lat_action( MOTOR_STOP );
} else {
Serial.println( "Not safe" );
digitalWrite( 13, LOW );
}
}
}
last_pos = pos;
}
/*
* Main CPU Thermal Governor:
* It defines various thermal zones (safe, monitoring, alert, panic and fatal)
* with associated thermal Thresholds including the hysteresis effect.
*/
int cpu_thermal_governor(u32 omap_sensor_temp)
{
cpu_temp = convert_omap_sensor_temp_to_hotspot_temp(OMAP_CPU, omap_sensor_temp);
if (cpu_temp >= OMAP_CPU_THRESHOLD_FATAL) {
fatal_zone();
return FATAL_ZONE;
} else if (cpu_temp >= config_file.omap_cpu_threshold_panic) {
panic_zone();
return PANIC_ZONE;
} else if (cpu_temp < (config_file.omap_cpu_threshold_panic - HYSTERESIS_VALUE)) {
if (cpu_temp >= config_file.omap_cpu_threshold_alert) {
alert_zone();
return ALERT_ZONE;
} else if (cpu_temp < (config_file.omap_cpu_threshold_alert - HYSTERESIS_VALUE)) {
if (cpu_temp >= config_file.omap_cpu_threshold_monitoring) {
monitoring_zone();
return MONITOR_ZONE;
} else {
/*
* this includes the case where :
* MONITORING_LOW <= T < MONITORING_HIGH
*/
safe_zone();
return SAFE_ZONE;
}
} else {
/*
* this includes the case where :
* ALERT_LOW <= T < ALERT_HIGH
*/
monitoring_zone();
return MONITOR_ZONE;
}
} else {
/*
* this includes the case where :
* PANIC_LOW <= T < PANIC_HIGH
*/
alert_zone();
return ALERT_ZONE;
}
}
