![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Our version of TFC code.
Fork of FRDM-TFC by
TFC.h
- Committer:
- emh203
- Date:
- 2013-07-17
- Revision:
- 1:6f37253dab87
- Child:
- 3:23cce037011f
File content as of revision 1:6f37253dab87:
#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 uint16_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; /** @} */ #endif