Diff: psiswarm.h

Revision:

0:d6269d17c8cf

Child:

1:060690a934a9

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/psiswarm.h	Thu Feb 04 21:48:54 2016 +0000
@@ -0,0 +1,181 @@
+/* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Core Header File
+ * 
+ * File: psiswarm.h
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis
+ *
+ * PsiSwarm Library Version: 0.4
+ *
+ * February 2016
+ *
+ *
+ */ 
+
+#ifndef PSISWARM_H
+#define PSISWARM_H
+  
+#define SOFTWARE_VERSION_CODE 0.20
+
+#define PIC_ADDRESS 0x30
+#define LCD_ADDRESS 0x7C 
+#define LED_IC_ADDRESS 0x42
+#define GPIO_IC_ADDRESS 0x40
+#define AUX_IC_ADDRESS 0x4E
+#define ADC1_ADDRESS 0x46
+#define ADC2_ADDRESS 0x48
+#define EEPROM_ADDRESS 0XA0
+#define TEMPERATURE_ADDRESS 0X30
+#define BASE_COLOUR_ADDRESS 0X52
+#define TOP_COLOUR_ADDRESS 0X72
+#define ULTRASONIC_ADDRESS 0XE0
+#define COMMAND_MESSAGE_BYTE 0X1D
+#define ACKNOWLEDGE_MESSAGE_BYTE 0X1E
+#define RESPONSE_MESSAGE_BYTE 0X1F
+#define PSI_BYTE 0X1D
+
+//Set temperature sensor warnings: 60C critical, 50C high, 0C low
+#define TEMPERATURE_CRITICAL_HI 0X03
+#define TEMPEARTURE_CRITICAL_LO 0XC0
+#define TEMPERATURE_HIGH_HI 0X03
+#define TEMPEARTURE_HIGH_LO 0X20
+#define TEMPERATURE_LOW_HI 0X00
+#define TEMPEARTURE_LOW_LO 0X00
+
+#define DEFAULT_IR_PULSE_DELAY 400
+#define DEFAULT_BASE_IR_PULSE_DELAY 50
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <string>
+#include <vector>
+
+#include "settings.h"
+#include "serial.h"
+#include "mbed.h"
+#include "display.h"
+#include "led.h"
+#include "i2c.h"
+#include "motors.h"
+#include "sensors.h"
+#include "eprom.h"
+#include "colour.h"
+#include "pic.h"
+#include "demo.h"
+#include "dances.h"
+#include "basic.h"
+
+//NB The user needs to have a main.cpp with a main() function and a handle_switch_event(char) function
+#include "main.h"
+
+
+void init(void);
+float get_uptime(void);
+void pause_user_code(float period);
+void reset_encoders(void);
+void debug(const char* format, ...) ;
+
+void IF_end_pause_user_code(void);
+void IF_handle_events(void);
+void IF_update_encoders(void);
+void IF_update_user_id(void);
+void IF_update_switch(void);
+void IF_update_minutes(void);
+
+extern char * program_name;
+extern char * author_name;
+extern char * version_name;
+
+extern Serial pc;
+extern Serial bt;
+extern Display display;
+extern I2C primary_i2c;
+extern InterruptIn gpio_interrupt;
+
+extern AnalogIn vin_current;
+extern AnalogIn vin_battery;
+extern AnalogIn vin_dc;
+
+extern DigitalOut mbed_led1;
+extern DigitalOut mbed_led2;
+extern DigitalOut mbed_led3;
+extern DigitalOut mbed_led4;
+extern PwmOut center_led_red;
+extern PwmOut center_led_green;
+extern PwmOut motor_left_f;
+extern PwmOut motor_left_r;
+extern PwmOut motor_right_f;
+extern PwmOut motor_right_r;
+
+extern char time_based_motor_action;
+
+extern int base_colour_sensor_raw_values [];
+extern int top_colour_sensor_raw_values [];
+
+extern char waiting_for_ultrasonic;
+extern int ultrasonic_distance;
+extern char ultrasonic_distance_updated;
+extern Timeout ultrasonic_timeout;
+extern Ticker ultrasonic_ticker;
+
+extern unsigned short background_ir_values [];
+extern unsigned short illuminated_ir_values [];
+extern float reflected_ir_distances [];
+extern char ir_values_stored;
+
+extern char firmware_bytes[];
+
+extern char testing_voltage_regulators_flag;
+extern char power_good_motor_left;
+extern char power_good_motor_right;
+extern char power_good_infrared;
+extern char status_dc_in;
+extern char status_charging;
+
+extern unsigned short background_base_ir_values [];
+extern unsigned short illuminated_base_ir_values [];
+extern char base_ir_values_stored;
+extern float line_position;
+extern char line_found;
+
+extern float motor_left_speed;
+extern float motor_right_speed;
+extern char motor_left_brake;
+extern char motor_right_brake;
+
+extern float center_led_brightness;
+extern float backlight_brightness;
+
+extern float firmware_version;
+
+extern int ir_pulse_delay;
+extern int base_ir_pulse_delay;
+
+extern char robot_id;
+extern char previous_robot_id;
+
+extern char wheel_encoder_byte;
+extern char previous_wheel_encoder_byte;
+extern signed int left_encoder;
+extern signed int right_encoder;
+
+extern char switch_byte;
+extern char previous_switch_byte;
+
+extern char user_code_running;
+extern char user_code_restore_mode;
+extern char demo_on;
+extern char event;
+extern char change_id_event;
+extern char encoder_event;
+extern char switch_event;
+extern char system_warnings;
+
+extern char debug_mode;
+extern char debug_output;
+
+extern vector<string> basic_filenames; 
+extern char psi_basic_file_count;
+extern char use_flash_basic;
+extern char file_transfer_mode;
+#endif