#define thresholds (hold_regs+1)
#define led1_sensors (hold_regs[13])
#define led2_sensors (hold_regs[14])
+#define long_as_free (hold_regs[15])
+#define long_thr (hold_regs[16])
#define led_bitmap (hold_regs[MB_N_HOLD_REGS_EEPROM])
#define distances (hold_regs+MB_N_HOLD_REGS_EEPROM+1)
#define free_bitmap (hold_regs[MB_N_HOLD_REGS_EEPROM+13])
#define err_bitmap (hold_regs[MB_N_HOLD_REGS_EEPROM+14])
+#define long_bitmap (hold_regs[MB_N_HOLD_REGS_EEPROM+15])
#define max_distances (hold_regs+MB_N_HOLD_REGS_EEPROM+21)
#define err_counts (hold_regs+MB_N_HOLD_REGS_EEPROM+41)
}
/*
* If the echo pulse is too long, do not treat it
- * as error, just count it as maximum length.
+ * as error, just count it as maximum length
+ * and notify the state in the bitmap.
*/
distances[off] = now - starttimes[i];
}
static void eval_bitmaps()
{
- uint16_t free_b = 0, err_b = 0, mask;
+ uint16_t free_b = 0, err_b = 0, long_b = 0, mask;
uint8_t i;
for (i = 0; i < N_SENSORS; i++) {
if (distances[i] == -1) {
err_b |= mask;
} else if (distances[i] > thresholds[i]) {
- free_b |= mask;
+ if (long_thr && distances[i] > long_thr) {
+ long_b |= mask;
+ if (long_as_free & mask) {
+ free_b |= mask;
+ }
+ } else {
+ free_b |= mask;
+ }
}
}
}
free_bitmap = free_b;
err_bitmap = err_b;
+ long_bitmap = long_b;
if (led1_sensors) {
if (led1_sensors & err_bitmap) {