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Updated TFC library to be compatible with the recent hardware changes. Currently only CCD1, Servo1, Motor1, and Motor2 are interfaced.
Dependents: TFC-TEST_UPDATED_HW
Fork of FRDM-TFC by
Diff: TFC.h
- Revision:
- 9:9c61b6ebc028
- Parent:
- 3:23cce037011f
--- a/TFC.h Tue Apr 15 02:36:19 2014 +0000 +++ b/TFC.h Fri Jan 12 18:22:35 2018 +0000 @@ -21,38 +21,19 @@ I/O:\n -------------------------------------------------------------------------------------------------\n - PTB0 (Servo Channel 0 - TPM1)\n - PTB1 (Servo Channel 1 - TPM1)\n + PTA12 Servo 1\n + PTA13 Servo 2\n \n - PTB8 (Battery LED0)\n - PTB9 (Battery LED1)\n - PTB10 (Battery LED2)\n - PTB11 (Battery LED3)\n -\n - PTD7 (Camera SI)\n - PTE0 (Camera CLK)\n - PTD5 (Camera A0 - ADC_SE6b)\n - PTD6 (Camera A1 - ADC_SE7b)\n \n - PTE2 DIP Switch 0\n - PTE3 DIP Switch 1\n - PTE4 DIP Switch 2\n - PTE5 DIP Switch 3\n - - PTC13 Pushbutton SW1\n - PTC17 Pushbutton SW2\n + PTB8 (Camera CCD1 SI)\n + PTB9 (Camera CCD1 CLK)\n + PTC2 (Camera CCD1 A0)\n +\n - PTC3 H-Bridge A - 1 FTM0_CH3\n - PTC4 H-Bridge A - 2 FTM0_CH4\n - PTC1 H-Bridge B - 1 FTM0_CH1\n - PTC2 H-Bridge B - 2 FTM0_CH2\n - - PTE21 H-Bridge Enable\n - PTE20 H-Bridge Fault\n - - PTE23 H-Bridge A - IFB\n - PTE22 H-Bridge B - IFB\n - + PTA4 Motor1 PWM1 FTM0_CH1\n + PTA5 Motor1 PWM2 FTM0_CH2\n + PTC8 Motor2 PWM1 FTM0_CH4\n + PTC9 Motor2 PWM2 FTM0_CH5\n } */ @@ -61,29 +42,10 @@ #ifndef _TFC_H #define _TFC_H -#define TFC_HBRIDGE_EN_LOC (uint32_t)(1<<21) -#define TFC_HBRIDGE_FAULT_LOC (uint32_t)(1<<20) - -#define TFC_HBRIDGE_ENABLE PTE->PSOR = TFC_HBRIDGE_EN_LOC -#define TFC_HBRIDGE_DISABLE PTE->PCOR = TFC_HBRIDGE_EN_LOC - -#define TFC_DIP_SWITCH0_LOC ((uint32_t)(1<<2)) -#define TFC_DIP_SWITCH1_LOC ((uint32_t)(1<<3)) -#define TFC_DIP_SWITCH2_LOC ((uint32_t)(1<<4)) -#define TFC_DIP_SWITCH3_LOC ((uint32_t)(1<<5)) - -#define TFC_PUSH_BUTT0N0_LOC ((uint32_t)(1<<13)) -#define TFC_PUSH_BUTT0N1_LOC ((uint32_t)(1<<17)) - -#define TFC_BAT_LED0_LOC ((uint32_t)(1<<11)) -#define TFC_BAT_LED1_LOC ((uint32_t)(1<<10)) -#define TFC_BAT_LED2_LOC ((uint32_t)(1<<9)) -#define TFC_BAT_LED3_LOC ((uint32_t)(1<<8)) - -#define TAOS_CLK_HIGH PTE->PSOR = (1<<1) -#define TAOS_CLK_LOW PTE->PCOR = (1<<1) -#define TAOS_SI_HIGH PTD->PSOR = (1<<7) -#define TAOS_SI_LOW PTD->PCOR = (1<<7) +#define TAOS_CLK_HIGH PTB->PSOR = (1<<9) +#define TAOS_CLK_LOW PTB->PCOR = (1<<9) +#define TAOS_SI_HIGH PTB->PSOR = (1<<8) +#define TAOS_SI_LOW PTB->PCOR = (1<<8) /** @@ -92,54 +54,6 @@ @{ */ -/**Macro to turn on LED 0 in the battery indicator array*/ -#define TFC_BAT_LED0_ON PTB->PSOR = TFC_BAT_LED0_LOC -/** Macro to turn on LED 1 in the battery indicator array*/ -#define TFC_BAT_LED1_ON PTB->PSOR = TFC_BAT_LED1_LOC -/** Macro to turn on LED 2 in the battery indicator array*/ -#define TFC_BAT_LED2_ON PTB->PSOR = TFC_BAT_LED2_LOC -/** Macro to turn on LED 3 in the battery indicator array*/ -#define TFC_BAT_LED3_ON PTB->PSOR = TFC_BAT_LED3_LOC - - -/** Macro to turn off LED 0 in the battery indicator array*/ -#define TFC_BAT_LED0_OFF PTB->PCOR = TFC_BAT_LED0_LOC -/** Macro to turn off LED 1 in the battery indicator array*/ -#define TFC_BAT_LED1_OFF PTB->PCOR = TFC_BAT_LED1_LOC -/** Macro to turn off LED 2 in the battery indicator array*/ -#define TFC_BAT_LED2_OFF PTB->PCOR = TFC_BAT_LED2_LOC -/** Macro to turn off LED 3 in the battery indicator array*/ -#define TFC_BAT_LED3_OFF PTB->PCOR = TFC_BAT_LED3_LOC - - -/** Macro to toggle LED 0 in the battery indicator array*/ -#define TFC_BAT_LED0_TOGGLE PTB->PTOR = TFC_BAT_LED0_LOC -/** Macro to toggle LED 1 in the battery indicator array*/ -#define TFC_BAT_LED1_TOGGLE PTB->PTOR = TFC_BAT_LED1_LOC -/** Macro to toggle LED 2 in the battery indicator array*/ -#define TFC_BAT_LED2_TOGGLE PTB->PTOR = TFC_BAT_LED2_LOC -/** Macro to toggle LED 3 in the battery indicator array*/ -#define TFC_BAT_LED3_TOGGLE PTB->PTOR = TFC_BAT_LED3_LOC - - -/** Macro to read the state of the pushbutton SW1*/ -#define TFC_PUSH_BUTTON_0_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N0_LOC)>0) -/** Macro to read the state of the pushbutton SW1*/ -#define TFC_PUSH_BUTTON_1_PRESSED ((PTC->PDIR&TFC_PUSH_BUTT0N1_LOC)>0) - -/** Macro to read the state of switch 0 in the 4 position DIP switch*/ -#define TFC_DIP_SWITCH_0_ON ((TFC_GetDIP_Switch()&0x01)>0) - -/** Macro to read the state of switch 1 in the 4 position DIP switch*/ -#define TFC_DIP_SWITCH_1_ON ((TFC_GetDIP_Switch()&0x02)>0) - -/** Macro to read the state of switch 2 in the 4 position DIP switch*/ -#define TFC_DIP_SWITCH_2_ON ((TFC_GetDIP_Switch()&0x04)>0) - -/** Macro to read the state of switch 3 in the 4 position DIP switch*/ -#define TFC_DIP_SWITCH_3_ON ((TFC_GetDIP_Switch()&0x08)>0) - - /** Initialized the TFC API. Call before using any other API calls. * */ @@ -152,27 +66,6 @@ extern volatile uint32_t TFC_ServoTicker; -/** Gets the state of the 4-positiomn DIP switch on the FRDM-TFC -* -* @returns The lower 4-bits of the return value map to the 4-bits of the DIP switch -*/ -uint8_t TFC_GetDIP_Switch(); - - -/** Reads the state of the pushbuttons (SW1, SW2) on the FRDM-TFC -* @param Index Selects the pushbutton (0 for SW1 and 1 for SW2) -* @returns A non-zero value if the button is pushed -*/ -uint8_t TFC_ReadPushButton(uint8_t Index); - - -/** Controls the 4 battery level LEDs on the FRDM-TFC boards. -* -* @param Value The lower 4-bits of the parameter maps to the 4 LEDs. -*/ -void TFC_SetBatteryLED(uint8_t Value); - - /** Sets the servo channels * * @param ServoNumber Which servo channel on the FRDM-TFC to use (0 or 1). 0 is the default channel for steering @@ -204,28 +97,6 @@ */ void TFC_SetMotorPWM(float MotorA ,float MotorB); -/** Reads the potentiometers -* -* @param Channel Selects which pot is read. I.e. 0 for POT0 or 1 for POT1 -* @returns Pot value from -1.0 to 1.0 -*/ -float TFC_ReadPot(uint8_t Channel); - -/** Gets the current battery voltage -* -* @returns Battery voltage in floating point form. -*/ -float TFC_ReadBatteryVoltage(); - - - -/** Sets the Battery level indiciate -* -* @param BattLevel A number betwween 0 and 4. This will light the bar from left to right with the specifified number of segments. -* -*/ -void TFC_SetBatteryLED_Level(uint8_t BattLevel); - /** Pointer to two channels of line scan camera data. Each channel is 128 points of uint8_t's. Note that the underlying implementation is ping-pong buffer These pointers will point to the *inactive buffer. @@ -242,10 +113,6 @@ extern volatile uint8_t TFC_LineScanImageReady; - - - - /** @} */