Jonathan Jones / Mbed 2 deprecated Radios

Radio Structures in OOP

Dependencies:   mbed mbed-rtos

robot.h@2:7d523bdd2f50, 2014-12-28 (annotated)

Committer:
jjones646
Date:
Sun Dec 28 06:05:17 2014 +0000
Revision:
2:7d523bdd2f50
Parent:
1:c935902c73ef
Child:
3:dc7e9c6bc26c
outlining communication implementations

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjones646 2:7d523bdd2f50 1 #ifndef ROBOT_H // Only include once
jjones646 1:c935902c73ef 2 #define ROBOT_H
jjones646 1:c935902c73ef 3
jjones646 2:7d523bdd2f50 4 // ** ============================= ** DEBUGGING OPTIONS ** ============================= **
jjones646 2:7d523bdd2f50 5
jjones646 2:7d523bdd2f50 6 // Set the debugging level for compiling. Valid levels include `0`, `1`, `2`, `3`, & `4`.
jjones646 1:c935902c73ef 7 #define RJ_DEBUG_LEVEL 0
jjones646 1:c935902c73ef 8
jjones646 2:7d523bdd2f50 9 /*
jjones646 2:7d523bdd2f50 10 This will enable/disable a `Log File` that is created at the mbed's startup. The file is written
jjones646 2:7d523bdd2f50 11 to the mbed's onboard flash memory and can be opened for debugging purposes if it is enabled.
jjones646 2:7d523bdd2f50 12 Note that you may have to disconnect and reconnect the mbed's USB connection for the file to show up
jjones646 2:7d523bdd2f50 13 if it is plugged into a computer during the startup process.
jjones646 2:7d523bdd2f50 14 */
jjones646 2:7d523bdd2f50 15 #define RJ_BOOT_LOG 1
jjones646 2:7d523bdd2f50 16
jjones646 2:7d523bdd2f50 17 // This will check the mbed's firmware for the most known up-to-date version if enabled
jjones646 2:7d523bdd2f50 18 #define RJ_CHECK_FIRMWARE 1
jjones646 2:7d523bdd2f50 19
jjones646 2:7d523bdd2f50 20
jjones646 2:7d523bdd2f50 21 // ** ============================= ** ENABLE / DISABLE ROBOT INTERFACES ** ============================= **
jjones646 2:7d523bdd2f50 22
jjones646 2:7d523bdd2f50 23 // Enable/Disable the `Primary Radio Interface` (915MHz band).
jjones646 2:7d523bdd2f50 24 #define RJ_PRIMARY_RADIO 1
jjones646 2:7d523bdd2f50 25
jjones646 2:7d523bdd2f50 26 // Enable/Disable the `Secondary Radio Interface` (2.4GHz band).
jjones646 2:7d523bdd2f50 27 #define RJ_SECONDARY_RADIO 0
jjones646 2:7d523bdd2f50 28
jjones646 2:7d523bdd2f50 29 // Enable/Disable the `Motion Processor Interface` (MPU-9250).
jjones646 2:7d523bdd2f50 30 #define RJ_MOTION_PROCESSOR 0
jjones646 2:7d523bdd2f50 31
jjones646 2:7d523bdd2f50 32 // The `Watchdog Timer` timeout value. The mbed will reset if the timer is not reset after the number of seconds defined here
jjones646 2:7d523bdd2f50 33 #define RJ_WATCHDOG_TIMER_VALUE 2 // seconds
jjones646 2:7d523bdd2f50 34
jjones646 2:7d523bdd2f50 35 // Set the proper header files to include for the Real Time Operating System implementation - This should always be set to 1
jjones646 2:7d523bdd2f50 36 #define RJ_RTOS_MODE 1
jjones646 2:7d523bdd2f50 37
jjones646 2:7d523bdd2f50 38
jjones646 2:7d523bdd2f50 39 // ** ============================= ** PIN DECLARATIONS ** ============================= **
jjones646 2:7d523bdd2f50 40
jjones646 2:7d523bdd2f50 41 // This defines the pin used for the primary radio's `Chip Select` pin
jjones646 1:c935902c73ef 42 #define RJ_PRIMARY_RADIO_CS p9
jjones646 2:7d523bdd2f50 43
jjones646 2:7d523bdd2f50 44 // This defines the pin used for the primary radio's `Interrupt` pin
jjones646 1:c935902c73ef 45 #define RJ_PRIMARY_RADIO_INT p8
jjones646 2:7d523bdd2f50 46
jjones646 2:7d523bdd2f50 47 // This defines the pin used for the secondary radio's `Chip Enable` pin
jjones646 2:7d523bdd2f50 48 #define RJ_SECONDARY_RADIO_CE p10
jjones646 2:7d523bdd2f50 49
jjones646 2:7d523bdd2f50 50 // This defines the pin used for the secondary radio's `Chip Select` pin
jjones646 2:7d523bdd2f50 51 #define RJ_SECONDARY_RADIO_CS p11
jjones646 2:7d523bdd2f50 52
jjones646 2:7d523bdd2f50 53 // This defines the pin used for the secondary radio's `Interrupt` pin
jjones646 2:7d523bdd2f50 54 #define RJ_SECONDARY_RADIO_IRQ p12
jjones646 2:7d523bdd2f50 55
jjones646 2:7d523bdd2f50 56 // This defines the pin used for the primary radio's `GDO2` pin
jjones646 2:7d523bdd2f50 57 #define RJ_PRIMARY_RADIO_GDO2 p13
jjones646 2:7d523bdd2f50 58
jjones646 2:7d523bdd2f50 59 // This defines the speaker's audio output pin
jjones646 1:c935902c73ef 60 #define RJ_SPEAKER_OUT p18
jjones646 2:7d523bdd2f50 61
jjones646 2:7d523bdd2f50 62 // This defines the ball sensor's detector pin
jjones646 1:c935902c73ef 63 #define RJ_BALL_DETECTOR p19
jjones646 2:7d523bdd2f50 64
jjones646 2:7d523bdd2f50 65 // This defines the ball sensor's emitter pin
jjones646 1:c935902c73ef 66 #define RJ_BALL_EMITTER p20
jjones646 1:c935902c73ef 67
jjones646 2:7d523bdd2f50 68 // This defines the pin used for the secondary radio's `Chip Select` pin
jjones646 2:7d523bdd2f50 69 // #define RJ_SECONDARY_RADIO_CS p21
jjones646 1:c935902c73ef 70
jjones646 2:7d523bdd2f50 71 // This defines the pin used for indicating mbed runtime activity
jjones646 1:c935902c73ef 72 #define RJ_STATUS_LED LED1
jjones646 2:7d523bdd2f50 73
jjones646 2:7d523bdd2f50 74 // These pin declarations are used for showing `TX` & `RX` radio connectivity
jjones646 1:c935902c73ef 75 #define RJ_TX_LED LED2
jjones646 1:c935902c73ef 76 #define RJ_RX_LED LED3
jjones646 1:c935902c73ef 77
jjones646 2:7d523bdd2f50 78 // This defines the pin used for a miscellaneous LED
jjones646 2:7d523bdd2f50 79 #define RJ_MISC_LED LED4
jjones646 2:7d523bdd2f50 80
jjones646 2:7d523bdd2f50 81 // This defines the pins used for a `Serial Connection` over the mbed's USB port (for use with a virtual serial connection to a computer)
jjones646 1:c935902c73ef 82 #define RJ_SERIAL_RXTX MBED_UARTUSB
jjones646 2:7d523bdd2f50 83
jjones646 2:7d523bdd2f50 84 // This defines the mbed pins used for its `Serial Peripheral Interface`
jjones646 2:7d523bdd2f50 85 #define RJ_SPI_BUS p5, p6, p7 // MOSI, MISO, SCK
jjones646 2:7d523bdd2f50 86
jjones646 2:7d523bdd2f50 87 // This defines the mbed pins used for its `I2C Interface`
jjones646 2:7d523bdd2f50 88 #define RJ_I2C_BUS p28, p27 // SDA, SCL
jjones646 2:7d523bdd2f50 89
jjones646 2:7d523bdd2f50 90 // This defines the mbed pin used for reading an analog voltage for the robot's battery
jjones646 2:7d523bdd2f50 91 #define RJ_BATT_IN p14
jjones646 2:7d523bdd2f50 92
jjones646 2:7d523bdd2f50 93 // This defines the mbed pin used for communicating to one of Adafruit's `Neopixel LEDs` for the primary power LED (RGB LEB)
jjones646 2:7d523bdd2f50 94 #define RJ_POWER_LED p16
jjones646 2:7d523bdd2f50 95
jjones646 2:7d523bdd2f50 96 // This defines the mbed pin used as an `Interrupt` for the MPU-9250
jjones646 2:7d523bdd2f50 97 #define RJ_MOTION_PROCESSOR_INT p17
jjones646 2:7d523bdd2f50 98
jjones646 2:7d523bdd2f50 99 // This defines the mbed pin used as the 'Chip Select` pin for the MPU-9250
jjones646 2:7d523bdd2f50 100 #define RJ_MOTION_PROCESSOR_CS p19
jjones646 1:c935902c73ef 101
jjones646 2:7d523bdd2f50 102 // This defines the mbed pin used as the `Chip Select` pin for the Spartan-3E FPGA
jjones646 2:7d523bdd2f50 103 #define RJ_FPGA_CS p24
jjones646 2:7d523bdd2f50 104
jjones646 2:7d523bdd2f50 105 // These two (2) pins are used for configuring the FPGA upon startup
jjones646 2:7d523bdd2f50 106 #define RJ_FPGA_FS0 p23
jjones646 2:7d523bdd2f50 107 #define RJ_FPGA_FS1 p22
jjones646 2:7d523bdd2f50 108
jjones646 2:7d523bdd2f50 109 // This defines the mbed pin used as the `Chip Select` pin for the 16 pin I/O expander
jjones646 2:7d523bdd2f50 110 #define RJ_IO_EXPANDER_CS p29
jjones646 2:7d523bdd2f50 111
jjones646 2:7d523bdd2f50 112 // This defines the mbed pin used as the `Chip Select` pin for reading the kicker's voltage from an external ADC using I2C communication
jjones646 2:7d523bdd2f50 113 #define RJ_ADC_CS p26
jjones646 2:7d523bdd2f50 114
jjones646 2:7d523bdd2f50 115 // This defines the mbed pin used as the `Program` pin for the FPGA's configuration
jjones646 2:7d523bdd2f50 116 #define RJ_FPGA_PROG p25
jjones646 2:7d523bdd2f50 117
jjones646 2:7d523bdd2f50 118 // These are the leftover pins. This will be used for the finalized design - designs changes are in progress
jjones646 2:7d523bdd2f50 119 #define RJ_UNUSED_1 p15
jjones646 2:7d523bdd2f50 120 #define RJ_UNUSED_2 p30
jjones646 2:7d523bdd2f50 121
jjones646 2:7d523bdd2f50 122
jjones646 2:7d523bdd2f50 123 // ** ============================= ** DO NOT EDIT ANYTHING BELOW HERE ** ============================= **
jjones646 2:7d523bdd2f50 124 // ** ================================================================================================= **
jjones646 1:c935902c73ef 125
jjones646 2:7d523bdd2f50 126 // Include the basic classes - Note: the header files included within "mbed.h" are listed below its include line.
jjones646 1:c935902c73ef 127 #include "mbed.h"
jjones646 2:7d523bdd2f50 128 /*
jjones646 2:7d523bdd2f50 129 #include <stdio.h>
jjones646 2:7d523bdd2f50 130 #include <stdlib.h>
jjones646 2:7d523bdd2f50 131 #include <string.h>
jjones646 2:7d523bdd2f50 132 #include <math.h>
jjones646 2:7d523bdd2f50 133 #include <time.h>
jjones646 2:7d523bdd2f50 134
jjones646 2:7d523bdd2f50 135 #include "error.h"
jjones646 2:7d523bdd2f50 136 #include "mbed_interface.h"
jjones646 2:7d523bdd2f50 137
jjones646 2:7d523bdd2f50 138 #include "DigitalIn.h"
jjones646 2:7d523bdd2f50 139 #include "DigitalOut.h"
jjones646 2:7d523bdd2f50 140 #include "DigitalInOut.h"
jjones646 2:7d523bdd2f50 141 #include "BusIn.h"
jjones646 2:7d523bdd2f50 142 #include "BusOut.h"
jjones646 2:7d523bdd2f50 143 #include "BusInOut.h"
jjones646 2:7d523bdd2f50 144 #include "PortIn.h"
jjones646 2:7d523bdd2f50 145 #include "PortInOut.h"
jjones646 2:7d523bdd2f50 146 #include "PortOut.h"
jjones646 2:7d523bdd2f50 147 #include "AnalogIn.h"
jjones646 2:7d523bdd2f50 148 #include "AnalogOut.h"
jjones646 2:7d523bdd2f50 149 #include "PwmOut.h"
jjones646 2:7d523bdd2f50 150 #include "Serial.h"
jjones646 2:7d523bdd2f50 151 #include "SerialHalfDuplex.h"
jjones646 2:7d523bdd2f50 152 #include "SPI.h"
jjones646 2:7d523bdd2f50 153 #include "SPISlave.h"
jjones646 2:7d523bdd2f50 154 #include "SPIHalfDuplex.h"
jjones646 2:7d523bdd2f50 155 #include "I2C.h"
jjones646 2:7d523bdd2f50 156 #include "I2CSlave.h"
jjones646 2:7d523bdd2f50 157 #include "Ethernet.h"
jjones646 2:7d523bdd2f50 158 #include "CAN.h"
jjones646 2:7d523bdd2f50 159
jjones646 2:7d523bdd2f50 160 #include "Timer.h"
jjones646 2:7d523bdd2f50 161 #include "Ticker.h"
jjones646 2:7d523bdd2f50 162 #include "Timeout.h"
jjones646 2:7d523bdd2f50 163 #include "LocalFileSystem.h"
jjones646 2:7d523bdd2f50 164 #include "InterruptIn.h"
jjones646 2:7d523bdd2f50 165 #include "wait_api.h"
jjones646 2:7d523bdd2f50 166 #include "rtc_time.h"
jjones646 2:7d523bdd2f50 167 */
jjones646 2:7d523bdd2f50 168
jjones646 2:7d523bdd2f50 169 #if RJ_CHECK_FIRMWARE
jjones646 2:7d523bdd2f50 170 #include "FirmwareCheck.h"
jjones646 2:7d523bdd2f50 171 #endif
jjones646 2:7d523bdd2f50 172
jjones646 2:7d523bdd2f50 173 // Include header file for the CMSIS Real Time Operating System - include the correct one depending upon pre-processor values
jjones646 2:7d523bdd2f50 174 #if RJ_RTOS_MODE == 1
jjones646 2:7d523bdd2f50 175 #include "cmsis_os.h"
jjones646 2:7d523bdd2f50 176 #else
jjones646 1:c935902c73ef 177 #include "rtos.h"
jjones646 2:7d523bdd2f50 178 #endif
jjones646 2:7d523bdd2f50 179
jjones646 2:7d523bdd2f50 180 // Include the header file for the watchdog timer class
jjones646 1:c935902c73ef 181 #include "Watchdog.h"
jjones646 1:c935902c73ef 182
jjones646 2:7d523bdd2f50 183 // Include the base classes for communication if a communication link is active
jjones646 2:7d523bdd2f50 184 #if RJ_PRIMARY_RADIO | RJ_SECONDARY_RADIO
jjones646 2:7d523bdd2f50 185 #include "CommModule.h"
jjones646 2:7d523bdd2f50 186 #include "CommLink.h"
jjones646 2:7d523bdd2f50 187 #endif
jjones646 2:7d523bdd2f50 188
jjones646 2:7d523bdd2f50 189 // Include the primary radio class if 915MHz band radio [if active]
jjones646 1:c935902c73ef 190 #if RJ_PRIMARY_RADIO
jjones646 1:c935902c73ef 191 #include "CC1101.h"
jjones646 1:c935902c73ef 192 #endif
jjones646 1:c935902c73ef 193
jjones646 2:7d523bdd2f50 194 // Include the secondary radio class if 2.4GHz band radio [if active]
jjones646 2:7d523bdd2f50 195 #if RJ_SECONDARY_RADIO
jjones646 2:7d523bdd2f50 196 #include "nRF24L01.h"
jjones646 2:7d523bdd2f50 197 #endif
jjones646 1:c935902c73ef 198
jjones646 1:c935902c73ef 199 #endif // ROBOT_H