display and hokuyo working on ppc

diff --git a/build/linux/config.target b/build/linux/config.target
index 2ef1af91193c3de1cdbf52a739b08eb599e55895..bface9338cb78e869d734604132f817635a2dc1d 100644 (file)
--- a/build/linux/config.target
+++ b/build/linux/config.target
@@ -9,5 +9,6 @@ OMIT_KERNEL_PASSES=y
 CFLAGS = -O2 -g -Wall
 CXXFLAGS = -O2 -g -Wall
 
+CONFIG_UOLED_TTY="/dev/null"
 IDL_COMPILER=$(USER_BIN_DIR)/orte-idl
 CFLAGS += -DDISPLAY_DEBUG

diff --git a/src/hokuyo/hokuyo.h b/src/hokuyo/hokuyo.h
index 58b27914fac43a1b8b929bd5577428007c6645f4..ea986fa31d0d9526d42e32c197e1619183aeeb91 100644 (file)
--- a/src/hokuyo/hokuyo.h
+++ b/src/hokuyo/hokuyo.h
@@ -9,7 +9,7 @@
 #define HOKUYO_CLUSTER_TO_DEG(x) (113.0-(x*HOKUYO_BEAMS_IN_CLUSTER*(360.0/1024.0)))
 #define HOKUYO_CLUSTER_TO_RAD(x) (M_PI/180 * (113.0)-(x*HOKUYO_BEAMS_IN_CLUSTER*((2*M_PI)/1024.0)))
 
-#define HOKUYO_DEVICE "/dev/ttyPSC2"   // /dev/ttyACM0
+#define HOKUYO_DEVICE "/dev/ttyACM0"   // /dev/ttyACM0
 
 int hokuyo_get_scan();
 void scan_publisher_callback(const ORTESendInfo *info, void *vinstance, void *arg);

diff --git a/src/robofsm/map_handling.c b/src/robofsm/map_handling.c
index 045642e7925ea0300396d854360ae76a7c710e83..2e1172fe7838962b62f45d633b6a07f67420cf00 100644 (file)
--- a/src/robofsm/map_handling.c
+++ b/src/robofsm/map_handling.c
@@ -132,7 +132,9 @@ void update_map_hokuyo(struct hokuyo_scan_type *s)
        data = s->data;
 
        for (i = 0; i < HOKUYO_CLUSTER_CNT; i++) {
-               if((i==0)||(i==6)||(i==7)||(i==26)||(i==27)||(i==28))
+                       printf("data %d: %d\t",i,data[i]);
+//             if((i==0)||(i==6)||(i==7)||(i==26)||(i==27)||(i==28))
+               if((i<6)||((i>27))) // ||(i==7)||(i==26)||(i==27)||(i==28))
                        continue;
                if(data[i] > 19) {
                        beam.ang = HOKUYO_CLUSTER_TO_RAD(i);
@@ -143,6 +145,7 @@ void update_map_hokuyo(struct hokuyo_scan_type *s)
                }
                        
        }
+       printf("\n");
 }
 
 /**