cube.h

00001 #ifndef _cube_h
00002 #define _cube_h
00003 
00004 #include <stdint.h>
00005 // special serial commands
00006 #define K_START (0x1<<6)
00007 #define K_MOVES (0x3<<6)
00008 #define K_END   (0x2<<6)
00009 
00010 #define BYTE_TO_BINARY_PATTERN "%c%c%c%c%c%c%c%c"
00011 #define BYTE_TO_BINARY(byte)  \
00012   (byte & 0x80 ? '1' : '0'), \
00013   (byte & 0x40 ? '1' : '0'), \
00014   (byte & 0x20 ? '1' : '0'), \
00015   (byte & 0x10 ? '1' : '0'), \
00016   (byte & 0x08 ? '1' : '0'), \
00017   (byte & 0x04 ? '1' : '0'), \
00018   (byte & 0x02 ? '1' : '0'), \
00019   (byte & 0x01 ? '1' : '0') 
00020 // cube faces
00021 enum face_t
00022 {
00023     Us = 0,
00024     D = 1,
00025     L = 2,
00026     R = 3,
00027     F = 4,
00028     B = 5
00029 };
00030 
00031 // a single move, consisting of a face
00032 // and number of CW rotations
00033 struct move_t
00034 {
00035     face_t face;
00036     int8_t n_turns;
00037 };
00038 
00039 // a sequence of moves:
00040 // pointer to start of an array of moves
00041 // length of the array
00042 struct sequence_t
00043 {
00044     move_t* moves;
00045     uint8_t n_moves;
00046 };
00047 
00048 // all the information that the simulated board needs to run the sequence
00049 // for the actual implementation, keep only seq and face
00050 // calls to small_delay, rotate, {get,set}_and should be
00051 // replaced with calls to Ben's functions
00052 struct mbed_info_t
00053 {
00054     face_t face; // the face that this board corresponds to
00055     sequence_t* seq; // the sequence to follow
00056     void(*rotate)(int8_t, int8_t); // rotate a face n turns, second argument is board number (needed for simulation)
00057     void(*set_and)(int8_t, int8_t); // sets and output, second argument is board number (needed for simulation)
00058     int8_t(*get_and)(); // gets and board status
00059 };
00060 
00061 int sequence_to_serial(sequence_t* seq, uint8_t* buffer, int n_bytes);
00062 int serial_to_sequence(sequence_t* seq, uint8_t* buffer, int n_bytes);
00063 void string_to_sequence(char* string);
00064 
00065 //void* run_sequence(void* command);
00066 void* run_sequence_2(void* command);
00067 void print_sequence(sequence_t* seq);
00068 void reset_mbed();
00069 sequence_t* get_sequence();
00070 #endif