Diff: Includes/TFC.h

Revision:

6:4b101f051a1f

Parent:

4:4233d072b5af

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Includes/TFC.h	Fri Aug 23 00:43:43 2013 +0000
@@ -0,0 +1,247 @@
+
+#include "mbed.h"
+
+/** @file test.h*/
+
+/**
+ * @defgroup FRDM-TFC_API FRDM-TFC_API
+ *
+ * @{
+ */
+
+
+/**
+
+@addtogroup FRDM-TFC_API
+
+@{
+
+Resources used by the TFC Library\n
+
+I/O:\n
+-------------------------------------------------------------------------------------------------\n
+
+    PTB0   (Servo Channel 0 - TPM1)\n
+    PTB1   (Servo Channel 1 - TPM1)\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
+
+    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
+
+    }
+*/
+
+
+
+#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)
+
+
+/**
+
+@addtogroup FRDM-TFC_API
+@{
+*/
+
+/**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.
+*
+*/
+void TFC_Init();
+
+/** ServoTicker will increment once every servo cycle.
+* It can be used to synchronize events to the start of a servo cycle. ServoTicker is a volatile uint32_t and is updated in the TPM1 overlflow interrupt.  This means you will see ServoTicker increment on the rising edge of the servo PWM signal
+*
+*/
+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
+*  @param Position     Angle setting for servo in a normalized (-1.0 to 1.0) form.   The range of the servo can be changed with the InitServos function.
+*                       This is called in the TFC constructor with some useful default values-->  20mSec period,  0.5mS min and 2.0mSec max.  you may need to adjust these for your own particular setup.
+*/
+void TFC_SetServo(uint8_t ServoNumber, float Position);
+
+/** Initializes TPM for the servoes.  It also sets the max and min ranges
+*
+*  @param ServoPulseWidthMin    Minimum pulse width (in seconds) for the servo.   The value of -1.0 in SetServo is mapped to this pulse width.  I.E.  .001
+*  @param ServoPulseWidthMax    Maximum pulse width (in seconds) for the servo.   The value of +1.0 in SetServo is mapped to this pulse width.  I.E.  .002
+*  @param ServoPeriod           Period of the servo pulses (in seconds).  I.e.  .020 for 20mSec
+*/
+
+void TFC_InitServos(float ServoPulseWidthMin, float ServoPulseWidthMax, float ServoPeriod);
+
+
+/** Initialized TPM0 to be used for generating PWM signals for the the dual drive motors.   This method is called in the TFC constructor with a default value of 4000.0Hz
+*
+*  @param SwitchingFrequency PWM Switching Frequency in floating point format.   Pick something between 1000 and 9000.   Maybe you can modulate it and make a tune.
+*/
+void TFC_InitMotorPWM(float SwitchingFrequency);
+
+/** Sets the PWM value for each motor.
+*
+*  @param MotorA    The PWM value for HBridgeA. The value is normalized to the floating point range of -1.0 to +1.0.    -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
+*  @param MotorB    The PWM value for HBridgeB. The value is normalized to the floating point range of -1.0 to +1.0.    -1.0 is 0% (Full Reverse on the H-Bridge) and 1.0 is 100% (Full Forward on the H-Bridge)
+*/
+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();
+
+
+/** 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.   
+*
+*/
+
+extern volatile uint8_t * TFC_LineScanCameraData[2];
+
+/** This flag will increment when a new frame is ready.  Check for a non zero value (and reset to zero!) when you want to read the camera(s)
+*
+*/
+
+extern volatile uint8_t TFC_LineScanCameraDataReady;
+
+float getLine();
+float init2();
+
+void TFC_GPIO_Init();
+
+void  TFC_InitADC_System(); // Always call this before the Servo init function....  The IRQ for the Servo code modifies ADC registers and the clocks need enable to the ADC peripherals 1st!
+
+void TFC_InitLineScanCamera();
+
+
+/** @} */
+
+
+#endif
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