Adam Wilcock / Mbed 2 deprecated IRIS_MBED

test

Dependencies:   MODDMA MODSERIAL mbed

Fork of IRIS_MBED by IRIS

main.h@7:49aba2a2e847, 2015-04-09 (annotated)

Committer:
JonathanAshworth
Date:
Thu Apr 09 20:07:15 2015 +0000
Revision:
7:49aba2a2e847
Parent:
6:8ffc6d3a7c1d 
latest version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonathanAshworth 6:8ffc6d3a7c1d 1 /***********************************************************************
JonathanAshworth 6:8ffc6d3a7c1d 2 PROJECT IRIS
JonathanAshworth 6:8ffc6d3a7c1d 3 Multidisciplinary Group Project
JonathanAshworth 6:8ffc6d3a7c1d 4 ENG701S2 (Year 4 - MENG) at the University of Portsmouth
JonathanAshworth 6:8ffc6d3a7c1d 5
JonathanAshworth 6:8ffc6d3a7c1d 6 Filename: main.h
JonathanAshworth 6:8ffc6d3a7c1d 7
JonathanAshworth 6:8ffc6d3a7c1d 8 Description: Header file for the main root source file (main.cpp).
JonathanAshworth 6:8ffc6d3a7c1d 9
JonathanAshworth 6:8ffc6d3a7c1d 10 Original Created: 05/04/2015
JonathanAshworth 6:8ffc6d3a7c1d 11 Original Author: Jonathan Ashworth
JonathanAshworth 6:8ffc6d3a7c1d 12
JonathanAshworth 6:8ffc6d3a7c1d 13 --------------------------Change Log--------------------------------
JonathanAshworth 6:8ffc6d3a7c1d 14 Date | Author | Details
JonathanAshworth 6:8ffc6d3a7c1d 15 06/04/05 Jonathan Ashworth
JonathanAshworth 6:8ffc6d3a7c1d 16
JonathanAshworth 6:8ffc6d3a7c1d 17 ***********************************************************************/
JonathanAshworth 6:8ffc6d3a7c1d 18
JonathanAshworth 4:1017848d2fe1 19 /*
JonathanAshworth 0:2676c97df44e 20
JonathanAshworth 0:2676c97df44e 21 void serialTx (void);
JonathanAshworth 0:2676c97df44e 22 void usbTimeout(void);
JonathanAshworth 0:2676c97df44e 23 void shutdown(void);
JonathanAshworth 0:2676c97df44e 24 void serialRx_ISR(void);
JonathanAshworth 0:2676c97df44e 25 void usbTimer_ISR(void);
JonathanAshworth 4:1017848d2fe1 26
JonathanAshworth 6:8ffc6d3a7c1d 27
JonathanAshworth 6:8ffc6d3a7c1d 28 if(0) {
JonathanAshworth 6:8ffc6d3a7c1d 29
JonathanAshworth 6:8ffc6d3a7c1d 30 //servos
JonathanAshworth 6:8ffc6d3a7c1d 31 for (i=0; i<PC_SERVO_REQUEST_COUNT; i++) {
JonathanAshworth 6:8ffc6d3a7c1d 32 PCRxData[(15*i)+0] = 0x00; //CID
JonathanAshworth 6:8ffc6d3a7c1d 33 PCRxData[(15*i)+1] = i+2; //SID
JonathanAshworth 6:8ffc6d3a7c1d 34 PCRxData[(15*i)+2] = 0x03; //FC
JonathanAshworth 6:8ffc6d3a7c1d 35 PCRxData[(15*i)+3] = 0x00; //Byte0...
JonathanAshworth 6:8ffc6d3a7c1d 36 PCRxData[(15*i)+4] = 0x00; //.
JonathanAshworth 6:8ffc6d3a7c1d 37 PCRxData[(15*i)+5] = 0x00; //.
JonathanAshworth 6:8ffc6d3a7c1d 38 PCRxData[(15*i)+6] = 0x00; //...
JonathanAshworth 6:8ffc6d3a7c1d 39 PCRxData[(15*i)+7] = 0x00; //Byte1...
JonathanAshworth 6:8ffc6d3a7c1d 40 PCRxData[(15*i)+8] = 0x00; //.
JonathanAshworth 6:8ffc6d3a7c1d 41 PCRxData[(15*i)+9] = 0x00; //.
JonathanAshworth 6:8ffc6d3a7c1d 42 PCRxData[(15*i)+10] = 0x00; //...
JonathanAshworth 6:8ffc6d3a7c1d 43 PCRxData[(15*i)+11] = 0x00; //Byte2...
JonathanAshworth 6:8ffc6d3a7c1d 44 PCRxData[(15*i)+12] = 0x00; //.
JonathanAshworth 6:8ffc6d3a7c1d 45 PCRxData[(15*i)+13] = 0x00; //.
JonathanAshworth 6:8ffc6d3a7c1d 46 PCRxData[(15*i)+14] = 0x00; //...
JonathanAshworth 6:8ffc6d3a7c1d 47 }
JonathanAshworth 6:8ffc6d3a7c1d 48
JonathanAshworth 6:8ffc6d3a7c1d 49 //motors
JonathanAshworth 6:8ffc6d3a7c1d 50 for (i=0; i<PC_MOTOR_REQUEST_COUNT; i++) {
JonathanAshworth 6:8ffc6d3a7c1d 51 PCRxData[(7*15)+(7*i)+0] = 0x00; //CID
JonathanAshworth 6:8ffc6d3a7c1d 52 PCRxData[(7*15)+(7*i)+1] = i+9; //SID
JonathanAshworth 6:8ffc6d3a7c1d 53 PCRxData[(7*15)+(7*i)+2] = 0x01; //FC
JonathanAshworth 6:8ffc6d3a7c1d 54 PCRxData[(7*15)+(7*i)+3] = 0x00; //Byte0...
JonathanAshworth 6:8ffc6d3a7c1d 55 PCRxData[(7*15)+(7*i)+4] = 0x00; //.
JonathanAshworth 6:8ffc6d3a7c1d 56 PCRxData[(7*15)+(7*i)+5] = 0x00; //.
JonathanAshworth 6:8ffc6d3a7c1d 57 PCRxData[(7*15)+(7*i)+6] = 0x00; //...
JonathanAshworth 6:8ffc6d3a7c1d 58 }
JonathanAshworth 6:8ffc6d3a7c1d 59
JonathanAshworth 6:8ffc6d3a7c1d 60 PCRxData[(7*15)+(7*i)+0] = 0x00; //CID
JonathanAshworth 6:8ffc6d3a7c1d 61 PCRxData[(7*15)+(7*i)+1] = 0x01; //SID
JonathanAshworth 6:8ffc6d3a7c1d 62 PCRxData[(7*15)+(7*i)+2] = 0x03; //FC
JonathanAshworth 6:8ffc6d3a7c1d 63 PCRxData[(7*15)+(7*i)+3] = 0x02; //Byte0...
JonathanAshworth 6:8ffc6d3a7c1d 64 PCRxData[(7*15)+(7*i)+4] = 0x0a;
JonathanAshworth 6:8ffc6d3a7c1d 65 PCRxData[(7*15)+(7*i)+5] = 0x0d;
JonathanAshworth 6:8ffc6d3a7c1d 66 flags.rxNewData = 1;
JonathanAshworth 6:8ffc6d3a7c1d 67
JonathanAshworth 6:8ffc6d3a7c1d 68 }
JonathanAshworth 6:8ffc6d3a7c1d 69
JonathanAshworth 4:1017848d2fe1 70 */
JonathanAshworth 4:1017848d2fe1 71
JonathanAshworth 6:8ffc6d3a7c1d 72 #ifndef MAIN_H
JonathanAshworth 6:8ffc6d3a7c1d 73 #define MAIN_H
JonathanAshworth 6:8ffc6d3a7c1d 74
JonathanAshworth 6:8ffc6d3a7c1d 75 #include "mbed.h"
JonathanAshworth 6:8ffc6d3a7c1d 76 #include "MODDMA.h"
JonathanAshworth 6:8ffc6d3a7c1d 77 #include "MODSERIAL.h"
JonathanAshworth 6:8ffc6d3a7c1d 78 #include "botStateHandler.h"
JonathanAshworth 6:8ffc6d3a7c1d 79 //#include "HCSR04/HCSR04.h"
JonathanAshworth 6:8ffc6d3a7c1d 80
JonathanAshworth 6:8ffc6d3a7c1d 81 #define SERVO_ARM_BASE_CHAN 0
JonathanAshworth 6:8ffc6d3a7c1d 82 #define SERVO_ARM_SHOULDER_CHAN 1
JonathanAshworth 6:8ffc6d3a7c1d 83 #define SERVO_ARM_ELBOW_CHAN 2
JonathanAshworth 6:8ffc6d3a7c1d 84 #define SERVO_ARM_WRIST_CHAN 3
JonathanAshworth 6:8ffc6d3a7c1d 85 #define SERVO_ARM_MANIPULATOR_CHAN 4
JonathanAshworth 6:8ffc6d3a7c1d 86 #define SERVO_VISION_PITCH_CHAN 5
JonathanAshworth 6:8ffc6d3a7c1d 87 #define SERVO_VISION_YAW_CHAN 6
JonathanAshworth 6:8ffc6d3a7c1d 88 #define SERVO_POSITION_MIN 600
JonathanAshworth 6:8ffc6d3a7c1d 89 #define SERVO_POSITION_MAX 2300
JonathanAshworth 6:8ffc6d3a7c1d 90 #define SERVO_POSITION_CENTRE 1500
JonathanAshworth 6:8ffc6d3a7c1d 91
JonathanAshworth 6:8ffc6d3a7c1d 92 #define SID_PC 0x00
JonathanAshworth 6:8ffc6d3a7c1d 93 #define SID_MBED 0x01
JonathanAshworth 6:8ffc6d3a7c1d 94 #define SID_ARM_BASE 0x02
JonathanAshworth 6:8ffc6d3a7c1d 95 #define SID_ARM_SHOULDER 0x03
JonathanAshworth 6:8ffc6d3a7c1d 96 #define SID_ARM_ELBOW 0x04
JonathanAshworth 6:8ffc6d3a7c1d 97 #define SID_ARM_WRIST 0x05
JonathanAshworth 6:8ffc6d3a7c1d 98 #define SID_ARM_MANIPULATOR 0x06
JonathanAshworth 6:8ffc6d3a7c1d 99 #define SID_VISION_PITCH 0x07
JonathanAshworth 6:8ffc6d3a7c1d 100 #define SID_VISION_YAW 0x08
JonathanAshworth 6:8ffc6d3a7c1d 101 #define SID_DRIVE_NS 0x09
JonathanAshworth 6:8ffc6d3a7c1d 102 #define SID_DRIVE_OS 0x0a
JonathanAshworth 6:8ffc6d3a7c1d 103 #define SID_RESERVED 0x0b
JonathanAshworth 6:8ffc6d3a7c1d 104 #define SID_9DOF_ACC 0x0c
JonathanAshworth 6:8ffc6d3a7c1d 105 #define SID_9DOF_GYRO 0x0d
JonathanAshworth 6:8ffc6d3a7c1d 106 #define SID_9DOF_MAG 0x0e
JonathanAshworth 6:8ffc6d3a7c1d 107 #define SID_GPS 0x0f
JonathanAshworth 6:8ffc6d3a7c1d 108 #define SID_TEMP 0x10
JonathanAshworth 6:8ffc6d3a7c1d 109 #define SID_HUM 0x11
JonathanAshworth 6:8ffc6d3a7c1d 110 #define SID_BATT_VOL 0x12
JonathanAshworth 6:8ffc6d3a7c1d 111 #define SID_BATT_CUR 0x13
JonathanAshworth 6:8ffc6d3a7c1d 112 #define SID_PIR 0x14
JonathanAshworth 6:8ffc6d3a7c1d 113 #define SID_USOUND_1 0x15
JonathanAshworth 6:8ffc6d3a7c1d 114 #define SID_USOUND_2 0x16
JonathanAshworth 6:8ffc6d3a7c1d 115 #define SID_USOUND_3 0x17
JonathanAshworth 6:8ffc6d3a7c1d 116 #define SID_USOUND_4 0x18
JonathanAshworth 6:8ffc6d3a7c1d 117 #define SID_USOUND_5 0x19
JonathanAshworth 6:8ffc6d3a7c1d 118 #define SID_USOUND_6 0x1a
JonathanAshworth 6:8ffc6d3a7c1d 119 #define SID_FIRSTSERVO_LOCATION 0x02
JonathanAshworth 6:8ffc6d3a7c1d 120 #define SID_LASTSERVO_LOCATION 0x08
JonathanAshworth 6:8ffc6d3a7c1d 121 #define SID_FIRSTMOTOR_LOCATION 0x09
JonathanAshworth 6:8ffc6d3a7c1d 122 #define SID_LASTMOTOR_LOCATION 0x0a
JonathanAshworth 6:8ffc6d3a7c1d 123 #define SID_FIRSTUSOUND_LOCATION 0x15
JonathanAshworth 6:8ffc6d3a7c1d 124 #define SID_LASTUSOUND_LOCATION 0x1a
JonathanAshworth 6:8ffc6d3a7c1d 125
JonathanAshworth 6:8ffc6d3a7c1d 126 #define PC_BAUDRATE 115200
JonathanAshworth 6:8ffc6d3a7c1d 127 #define PC_TX_BUFFER_SIZE 1024
JonathanAshworth 6:8ffc6d3a7c1d 128 #define PC_RX_BUFFER_SIZE 1024
JonathanAshworth 6:8ffc6d3a7c1d 129 #define PC_TX_PIN USBTX //Serial tx
JonathanAshworth 6:8ffc6d3a7c1d 130 #define PC_RX_PIN USBRX //Serial rx
JonathanAshworth 6:8ffc6d3a7c1d 131 #define PC_TIMEOUT_MESSAGE "MBED detected a timeout - eStop!"
JonathanAshworth 6:8ffc6d3a7c1d 132 #define PC_TIMEOUT_PERIOD 200
JonathanAshworth 6:8ffc6d3a7c1d 133 #define PC_BEGIN_PHRASE "IRIS:INIT"
JonathanAshworth 6:8ffc6d3a7c1d 134 //const char PC_BEGIN_PHRASE[] = {"IRIS:INIT"};
JonathanAshworth 6:8ffc6d3a7c1d 135 //#define PC_TERMINATION_PHRASE 0xefffffff //Packet termination sequence
JonathanAshworth 6:8ffc6d3a7c1d 136 const unsigned int PC_TERMINATION_PHRASE = 0xefffffff;
JonathanAshworth 6:8ffc6d3a7c1d 137 #define PC_SERVO_REQUEST_LENGTH 15 // Length of a write request
JonathanAshworth 6:8ffc6d3a7c1d 138 #define PC_MOTOR_REQUEST_LENGTH 7 // Length of a write request
JonathanAshworth 6:8ffc6d3a7c1d 139 #define PC_USOUND_RESPONSE_LENGTH 7
JonathanAshworth 6:8ffc6d3a7c1d 140 #define PC_PIR_RESPONSE_LENGTH 7
JonathanAshworth 6:8ffc6d3a7c1d 141 #define PC_BATTCURRENT_RESPONSE_LENGTH 7
JonathanAshworth 6:8ffc6d3a7c1d 142 #define PC_BATTVOLTAGE_RESPONSE_LENGTH 7
JonathanAshworth 6:8ffc6d3a7c1d 143 #define PC_HUMIDITY_RESPONSE_LENGTH 7
JonathanAshworth 6:8ffc6d3a7c1d 144 #define PC_TEMPERATURE_RESPONSE_LENGTH 7
JonathanAshworth 6:8ffc6d3a7c1d 145 #define PC_GPS_RESPONSE_LENGTH 15
JonathanAshworth 6:8ffc6d3a7c1d 146 #define PC_9DOFACC_RESPONSE_LENGTH 15
JonathanAshworth 6:8ffc6d3a7c1d 147 #define PC_9DOFGYR_RESPONSE_LENGTH 15
JonathanAshworth 6:8ffc6d3a7c1d 148 #define PC_9DOFMAG_RESPONSE_LENGTH 15
JonathanAshworth 6:8ffc6d3a7c1d 149 #define PC_SERVO_REQUEST_COUNT 7 // Number of servo write requests avaliable
JonathanAshworth 6:8ffc6d3a7c1d 150 #define PC_MOTOR_REQUEST_COUNT 2 // Number of motor write requests avaliable
JonathanAshworth 6:8ffc6d3a7c1d 151 #define PC_SENTENCE_COUNT 0x0a
JonathanAshworth 6:8ffc6d3a7c1d 152 #define PC_CID_LOCATION 0
JonathanAshworth 6:8ffc6d3a7c1d 153 #define PC_SID_LOCATION 1
JonathanAshworth 6:8ffc6d3a7c1d 154 #define PC_FIELDCOUNT_LOCATION 2
JonathanAshworth 6:8ffc6d3a7c1d 155 #define PC_FLOAT0_LOCATION 3
JonathanAshworth 6:8ffc6d3a7c1d 156 #define PC_FLOAT1_LOCATION 7
JonathanAshworth 6:8ffc6d3a7c1d 157 #define PC_FLOAT2_LOCATION 11
JonathanAshworth 6:8ffc6d3a7c1d 158 #define PC_REQUESTEDSID_BYTE0_LOCATION 3
JonathanAshworth 6:8ffc6d3a7c1d 159 #define PC_CID_LENGTH 1
JonathanAshworth 6:8ffc6d3a7c1d 160 #define PC_SID_LENGTH 1
JonathanAshworth 6:8ffc6d3a7c1d 161 #define PC_FIELDCOUNT_LENGTH 1
JonathanAshworth 6:8ffc6d3a7c1d 162 #define PC_LONGESTRESPONSESENTENCE PC_SERVO_REQUEST_LENGTH
JonathanAshworth 6:8ffc6d3a7c1d 163 #define PC_REQUESTEDSID_MAXCOUNT 512
JonathanAshworth 6:8ffc6d3a7c1d 164
JonathanAshworth 6:8ffc6d3a7c1d 165 #define SSC32_BAUDRATE 115200
JonathanAshworth 6:8ffc6d3a7c1d 166 #define SSC32_TX_BUFFER_SIZE 512
JonathanAshworth 6:8ffc6d3a7c1d 167 #define SSC32_RX_BUFFER_SIZE 512
JonathanAshworth 6:8ffc6d3a7c1d 168 #define SSC32_TX_PIN p13 //Serial tx
JonathanAshworth 6:8ffc6d3a7c1d 169 #define SSC32_RX_PIN p14 //Serial rx
JonathanAshworth 6:8ffc6d3a7c1d 170 #define SSC32_STOP "\e" //Command to stop previous command
JonathanAshworth 6:8ffc6d3a7c1d 171 #define SSC32_STOPPOSITION_ARM_BASE 1500
JonathanAshworth 6:8ffc6d3a7c1d 172 #define SSC32_STOPPOSITION_ARM_SHOULDER 600
JonathanAshworth 6:8ffc6d3a7c1d 173 #define SSC32_STOPPOSITION_ARM_ELBOW 2350
JonathanAshworth 6:8ffc6d3a7c1d 174 #define SSC32_STOPPOSITION_ARM_WRIST 2300
JonathanAshworth 6:8ffc6d3a7c1d 175 #define SSC32_STOPPOSITION_ARM_MANIPULATOR 1500
JonathanAshworth 6:8ffc6d3a7c1d 176 #define SSC32_STOPPOSITION_VISION_PITCH 1500
JonathanAshworth 6:8ffc6d3a7c1d 177 #define SSC32_STOPPOSITION_VISION_YAW 1500
JonathanAshworth 6:8ffc6d3a7c1d 178 #define SSC32_STOPPOSITION_TIME 4000 // TODO: replace with speed
JonathanAshworth 6:8ffc6d3a7c1d 179
JonathanAshworth 6:8ffc6d3a7c1d 180 #define GPS_BAUDRATE 115200
JonathanAshworth 6:8ffc6d3a7c1d 181 #define GPS_TX_BUFFER_SIZE 512
JonathanAshworth 6:8ffc6d3a7c1d 182 #define GPS_RX_BUFFER_SIZE 512
JonathanAshworth 6:8ffc6d3a7c1d 183 #define GPS_TX_PIN p28 //Serial tx
JonathanAshworth 6:8ffc6d3a7c1d 184 #define GPS_RX_PIN p27 //Serial rx
JonathanAshworth 6:8ffc6d3a7c1d 185
JonathanAshworth 6:8ffc6d3a7c1d 186 /* XBEES NOT INCLUDED IN SOLUTION (Recommend a pro version with I2C support)
JonathanAshworth 6:8ffc6d3a7c1d 187 #define XBEE_TX_BUFFER_SIZE 512
JonathanAshworth 6:8ffc6d3a7c1d 188 #define XBEE_RX_BUFFER_SIZE 512
JonathanAshworth 6:8ffc6d3a7c1d 189 #define XBEE_TX_PIN 0 //PIN UNALLOCATED
JonathanAshworth 6:8ffc6d3a7c1d 190 #define XBEE_RX_PIN 0 //PIN UNALLOCATED
JonathanAshworth 6:8ffc6d3a7c1d 191 */
JonathanAshworth 6:8ffc6d3a7c1d 192
JonathanAshworth 6:8ffc6d3a7c1d 193 #define ULTRASOUND_TRIGGER_PIN p11//Digital out
JonathanAshworth 6:8ffc6d3a7c1d 194 #define ULTRASOUND_ECHO_PIN p12 //Digital (PWM) in (from mux common)
JonathanAshworth 6:8ffc6d3a7c1d 195 #define BATTERY_VOLTAGE_PIN p16 //Analogue in
JonathanAshworth 6:8ffc6d3a7c1d 196 #define BATTERY_CURRENT_PIN p15 //Analogue in
JonathanAshworth 6:8ffc6d3a7c1d 197 #define MUX_D0_PIN p5 //Digital out
JonathanAshworth 6:8ffc6d3a7c1d 198 #define MUX_D1_PIN p6 //Digital out
JonathanAshworth 6:8ffc6d3a7c1d 199 #define MUX_D2_PIN p7 //Digital out
JonathanAshworth 6:8ffc6d3a7c1d 200 #define MUX_D3_PIN p8 //Digital out
JonathanAshworth 6:8ffc6d3a7c1d 201 #define I2C_SDA p9 //I2C data line
JonathanAshworth 6:8ffc6d3a7c1d 202 #define I2C_SCL p10 //I2C clock line
JonathanAshworth 6:8ffc6d3a7c1d 203 #define PIR_PIN p20 //Digital in
JonathanAshworth 6:8ffc6d3a7c1d 204 #define DRIVE_NS_PIN p21 //PWM out
JonathanAshworth 6:8ffc6d3a7c1d 205 #define DRIVE_OS_PIN p22 //PWM out
JonathanAshworth 6:8ffc6d3a7c1d 206 #define DRIVE_DEMAND_MIN 1
JonathanAshworth 6:8ffc6d3a7c1d 207 #define DRIVE_DEMAND_MAX -1
JonathanAshworth 6:8ffc6d3a7c1d 208 #define DRIVE_DEMAND_NEUTRAL 0 //Demand value for neutral
JonathanAshworth 6:8ffc6d3a7c1d 209
JonathanAshworth 6:8ffc6d3a7c1d 210 #define BOTDATA_FIELDNUMBER_SERVO_CHANNEL 0
JonathanAshworth 6:8ffc6d3a7c1d 211 #define BOTDATA_FIELDNUMBER_SERVO_POSITION 1
JonathanAshworth 6:8ffc6d3a7c1d 212 #define BOTDATA_FIELDNUMBER_SERVO_SPEED 2
JonathanAshworth 6:8ffc6d3a7c1d 213 #define BOTDATA_FIELDNUMBER_SERVO_TIME 3
JonathanAshworth 6:8ffc6d3a7c1d 214 #define BOTDATA_FIELDNUMBER_9DOF_ACCEL_X 1
JonathanAshworth 6:8ffc6d3a7c1d 215 #define BOTDATA_FIELDNUMBER_9DOF_ACCEL_Y 2
JonathanAshworth 6:8ffc6d3a7c1d 216 #define BOTDATA_FIELDNUMBER_9DOF_ACCEL_Z 3
JonathanAshworth 6:8ffc6d3a7c1d 217 #define BOTDATA_FIELDNUMBER_9DOF_MAG_X 1
JonathanAshworth 6:8ffc6d3a7c1d 218 #define BOTDATA_FIELDNUMBER_9DOF_MAG_Y 2
JonathanAshworth 6:8ffc6d3a7c1d 219 #define BOTDATA_FIELDNUMBER_9DOF_MAG_Z 3
JonathanAshworth 6:8ffc6d3a7c1d 220 #define BOTDATA_FIELDNUMBER_9DOF_GYRO_X 1
JonathanAshworth 6:8ffc6d3a7c1d 221 #define BOTDATA_FIELDNUMBER_9DOF_GYRO_Y 2
JonathanAshworth 6:8ffc6d3a7c1d 222 #define BOTDATA_FIELDNUMBER_9DOF_GYRO_Z 3
JonathanAshworth 6:8ffc6d3a7c1d 223 #define BOTDATA_FIELDNUMBER_GPS_LAT 1
JonathanAshworth 6:8ffc6d3a7c1d 224 #define BOTDATA_FIELDNUMBER_GPS_LONG 2
JonathanAshworth 6:8ffc6d3a7c1d 225 #define BOTDATA_FIELDNUMBER_GPS_SPEED 3
JonathanAshworth 6:8ffc6d3a7c1d 226 #define BOTDATA_FIELDNUMBER_TEMPERATURE 1
JonathanAshworth 6:8ffc6d3a7c1d 227 #define BOTDATA_FIELDNUMBER_HUMIDITY 1
JonathanAshworth 6:8ffc6d3a7c1d 228 #define BOTDATA_FIELDNUMBER_VOLTAGE 1
JonathanAshworth 6:8ffc6d3a7c1d 229 #define BOTDATA_FIELDNUMBER_CURRENT 1
JonathanAshworth 6:8ffc6d3a7c1d 230 #define BOTDATA_FIELDNUMBER_PIR 1
JonathanAshworth 6:8ffc6d3a7c1d 231 #define BOTDATA_FIELDNUMBER_DRIVE_DEMAND 0
JonathanAshworth 6:8ffc6d3a7c1d 232 #define BOTDATA_FIELDNUMBER_USOUND_DISTANCE 0
JonathanAshworth 6:8ffc6d3a7c1d 233
JonathanAshworth 6:8ffc6d3a7c1d 234 #define BYTELENGTH_OF_A_FLOAT 4
JonathanAshworth 6:8ffc6d3a7c1d 235 #define BYTELENGTH_OF_AN_INT 4
JonathanAshworth 6:8ffc6d3a7c1d 236 #define BITLENGTH_OF_A_BYTE 8
JonathanAshworth 4:1017848d2fe1 237
JonathanAshworth 4:1017848d2fe1 238 enum servoStatus {ToBeMoved = 0, Moving = 1, InPosition = 2};
JonathanAshworth 4:1017848d2fe1 239 enum dataErrors {Timeout = 0, RequestDataBad = 1};
JonathanAshworth 4:1017848d2fe1 240
JonathanAshworth 4:1017848d2fe1 241 struct Flags
JonathanAshworth 4:1017848d2fe1 242 {
JonathanAshworth 4:1017848d2fe1 243 bool rxNewData;
JonathanAshworth 6:8ffc6d3a7c1d 244 bool txNewData;
JonathanAshworth 4:1017848d2fe1 245 bool txSentData;
JonathanAshworth 4:1017848d2fe1 246 bool PCTimeout;
JonathanAshworth 6:8ffc6d3a7c1d 247 bool PCBegin;
JonathanAshworth 4:1017848d2fe1 248 };
JonathanAshworth 4:1017848d2fe1 249
JonathanAshworth 4:1017848d2fe1 250 void initialise(void);
JonathanAshworth 6:8ffc6d3a7c1d 251 //void getServoData(Servo *servo);
JonathanAshworth 6:8ffc6d3a7c1d 252 //void readUltrasound(UltrasoundSensor *sensor);
JonathanAshworth 6:8ffc6d3a7c1d 253 void constructTxData(char *SIDs, char numberOfSensors);
JonathanAshworth 6:8ffc6d3a7c1d 254 void parseRequestData(void);
JonathanAshworth 6:8ffc6d3a7c1d 255 unsigned int translateMotorDemandToPWM(float demand);
JonathanAshworth 6:8ffc6d3a7c1d 256 void PCTimeout(void);
JonathanAshworth 6:8ffc6d3a7c1d 257 void shutdown(void);
JonathanAshworth 6:8ffc6d3a7c1d 258 void timerISR(void);
JonathanAshworth 4:1017848d2fe1 259 void dmaPCSerialRx(MODSERIAL_IRQ_INFO *q);
JonathanAshworth 6:8ffc6d3a7c1d 260 bool string_compare(char *a, char *b, unsigned int length);
JonathanAshworth 6:8ffc6d3a7c1d 261 void sendPCSerialData(void);
JonathanAshworth 4:1017848d2fe1 262 void dmaSSC32SerialRx(MODSERIAL_IRQ_INFO *q);
JonathanAshworth 4:1017848d2fe1 263 void dmaGPSSerialRx(MODSERIAL_IRQ_INFO *q);
JonathanAshworth 6:8ffc6d3a7c1d 264 long readUltrasound(void);
JonathanAshworth 6:8ffc6d3a7c1d 265
JonathanAshworth 6:8ffc6d3a7c1d 266 #endif /* MAIN_H */