X-Git-Url: https://oss.titaniummirror.com/gitweb/?p=tinyos-2.x.git;a=blobdiff_plain;f=tos%2Fplatforms%2Ftmirws%2Fsensors%2FAverageAngleC.nc;h=65565b2a38e86586a3f914f73ca82deb207c386a;hp=52d03ac592a5df3c9eefc21dc6db303d603e2037;hb=31c5577e7d049bcb6dfc5e3d0a2c8bfd324ef25c;hpb=f54520e9a604b832eb3498102975f50f1494d1c3

diff --git a/tos/platforms/tmirws/sensors/AverageAngleC.nc b/tos/platforms/tmirws/sensors/AverageAngleC.nc
index 52d03ac5..65565b2a 100644
--- a/tos/platforms/tmirws/sensors/AverageAngleC.nc
+++ b/tos/platforms/tmirws/sensors/AverageAngleC.nc
@@ -34,7 +34,9 @@
  * @author R. Steve McKown <rsmckown@gmail.com>
  */
  
-generic module AverageAngleC(uint16_t samples) {
+#include "AeroVane.h"	/* For AEROVANE_VECTOR_NULL */
+
+generic module AverageAngleC() {
   provides interface Average<uint16_t>;
 }
 implementation {
@@ -53,24 +55,6 @@ implementation {
     init();
   }
 
-  task void signalAverage()
-  {
-    int16_t angle;
-
-    if (m_angle > 0)
-      angle = (m_angle + (m_count / 2)) / m_count;
-    else {
-      angle = (m_angle - (m_count / 2)) / m_count;
-      while (m_angle < 0)
-	angle += 1024;
-    }
-    angle &= 0x03ff; /* %= 1024 */
-    init();
-
-    /* Inform the consumer of the average angle */
-    signal Average.average(angle);
-  }
-
   int distance(int angle1, int angle2)
   {
     int d = angle2 - angle1;
@@ -84,15 +68,37 @@ implementation {
 
   command void Average.submit(uint16_t angle)
   {
-    m_lastAngle += distance(m_lastAngle, angle);
+    if (m_count++ == 0)
+      m_lastAngle = angle;
+    else
+      m_lastAngle += distance(m_lastAngle, angle);
     m_angle += m_lastAngle;
-    if (++m_count == samples)
-      post signalAverage();
   }
 
-  command void Average.null()
+  command uint16_t Average.average()
+  {
+    uint16_t angle;
+
+    if (m_count == 0)
+      angle = AEROVANE_VECTOR_NULL;
+    else {
+      angle = m_angle;
+
+      if (angle > 0)
+	angle = (angle + (m_count / 2)) / m_count;
+      else if (angle < 0) {
+	angle = (angle - (m_count / 2)) / m_count;
+	while (angle < 0)
+	  angle += 1024;
+      }
+      angle &= 0x03ff; /* %= 1024 */
+    }
+    init();
+    return angle;
+  }
+
+  command uint16_t Average.count()
   {
-    if (++m_count == samples)
-      post signalAverage();
+    return m_count;
   }
 }