Andrew Schaeffer / Mbed 2 deprecated OU_Davis_Old_Robot

This is the project for the Old Model Robots for OU's Dr. Davis's Configurable Robots Research. This is being published so future robots can be set up easily.

Dependencies:   FatFileSystem MCP3008 Motor PinDetect QTR_8A SRF05 SSD1308_128x64_I2C mbed

blueusb/Utils.h@0:bcad524c1856, 2017-11-01 (annotated)

Committer:
DrewSchaef
Date:
Wed Nov 01 15:57:59 2017 +0000
Revision:
0:bcad524c1856
Published the project to allow access for future work on the Configurable Robots Research Project(s).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DrewSchaef 0:bcad524c1856 1 #ifndef UTILS_H
DrewSchaef 0:bcad524c1856 2 #define UTILS_H
DrewSchaef 0:bcad524c1856 3
DrewSchaef 0:bcad524c1856 4 typedef unsigned char u8;
DrewSchaef 0:bcad524c1856 5 typedef unsigned short u16;
DrewSchaef 0:bcad524c1856 6 typedef unsigned long u32;
DrewSchaef 0:bcad524c1856 7
DrewSchaef 0:bcad524c1856 8 void DelayMS(int ms);
DrewSchaef 0:bcad524c1856 9
DrewSchaef 0:bcad524c1856 10 void printfBytes(const char* label,const u8* data, int len);
DrewSchaef 0:bcad524c1856 11 void printHex(const u8* d, int len);
DrewSchaef 0:bcad524c1856 12
DrewSchaef 0:bcad524c1856 13 #ifndef min
DrewSchaef 0:bcad524c1856 14 #define min(_a,_b) ((_a) < (_b) ? (_a) : (_b))
DrewSchaef 0:bcad524c1856 15 #endif
DrewSchaef 0:bcad524c1856 16
DrewSchaef 0:bcad524c1856 17 inline int LE16(const u8* d)
DrewSchaef 0:bcad524c1856 18 {
DrewSchaef 0:bcad524c1856 19 return d[0] | (d[1] << 8);
DrewSchaef 0:bcad524c1856 20 }
DrewSchaef 0:bcad524c1856 21
DrewSchaef 0:bcad524c1856 22 inline u32 BE32(const u8* d)
DrewSchaef 0:bcad524c1856 23 {
DrewSchaef 0:bcad524c1856 24 return (d[0] << 24) | (d[1] << 16) | (d[2] << 8) | d[3];
DrewSchaef 0:bcad524c1856 25 }
DrewSchaef 0:bcad524c1856 26
DrewSchaef 0:bcad524c1856 27 inline void BE32(u32 n, u8* d)
DrewSchaef 0:bcad524c1856 28 {
DrewSchaef 0:bcad524c1856 29 d[0] = (u8)(n >> 24);
DrewSchaef 0:bcad524c1856 30 d[1] = (u8)(n >> 16);
DrewSchaef 0:bcad524c1856 31 d[2] = (u8)(n >> 8);
DrewSchaef 0:bcad524c1856 32 d[3] = (u8)n;
DrewSchaef 0:bcad524c1856 33 }
DrewSchaef 0:bcad524c1856 34
DrewSchaef 0:bcad524c1856 35 inline void BE16(u32 n, u8* d)
DrewSchaef 0:bcad524c1856 36 {
DrewSchaef 0:bcad524c1856 37 d[0] = (u8)(n >> 8);
DrewSchaef 0:bcad524c1856 38 d[1] = (u8)n;
DrewSchaef 0:bcad524c1856 39 }
DrewSchaef 0:bcad524c1856 40
DrewSchaef 0:bcad524c1856 41 #endif