Xiaohai Li / Mbed 2 deprecated RPi_MOT_HAT

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Dependencies:   mbed

Diff: PeripheralLayer/MotHatLib.h

Revision:
0:633cef71e6ba
Child:
1:a6bcf44b90df
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PeripheralLayer/MotHatLib.h	Sun Aug 09 09:37:55 2015 +0000
@@ -0,0 +1,67 @@
+#ifndef _PE_BD_LIB_
+#define _PE_BD_LIB_
+
+//Number of on-board devices
+extern const int LED_NUM_MAX;
+extern const int MOT_NUM_MAX;
+extern const int SRV_NUM_MAX;
+extern const int VMON_NUM_MAX;
+//The speed difference rate of left/right side motors when the vehicle turns head
+extern const int MOT_TURN_RATE;
+//Fixed PWM period of servos
+extern const int SRV_PERIOD_US;
+
+//LEDs on mother board and daughter board
+extern DigitalOut led_mb;
+
+//GPIO for L293DD motor direction control
+//Forward = 2b'01, Backward = 2b'10, Stop = 2b'00
+extern BusOut mot1_dir, mot2_dir, mot3_dir, mot4_dir;
+
+//Analog inputs for power voltage monitoring
+extern AnalogIn vin_bat;
+extern AnalogIn vin_12v;
+extern AnalogIn vin_5v;
+extern AnalogIn vin_3v;
+
+//TIM3 PWM channels
+extern PwmOut mot1_pwm;
+extern PwmOut mot2_pwm;
+extern PwmOut mot3_pwm;
+extern PwmOut mot4_pwm;
+
+//TIM15 PWM channels
+extern PwmOut servo1_pwm;
+extern PwmOut servo2_pwm;
+//TIM16 PWM channels
+extern PwmOut servo3_pwm;
+//TIM17 PWM channels
+extern PwmOut servo4_pwm;
+
+//Init functions
+extern int BoardLibInit(void);
+
+//DC motor functions
+extern void Mot_Init(void);
+extern void Mot_Ctrl(char dir, char turn, float speed);
+extern void Mot_PwmSetup(int channel, int period, float duty);
+extern void Mot_PwmWrite(int channel, float duty);
+extern void Mot_SetDirection(int channel, char dir);
+
+//Servo functions
+extern void Servo_Init(void);
+extern void Servo_SetAngle(int channel, float angle);
+extern void Servo_PwmSetup(int channel, int pulse_us);
+extern void Servo_PwmWrite(int channel, int pulse_us);
+
+//Voltage monitor functions 
+extern float Vmon_ReadVolt(int channel);
+
+//On-board LED functions
+extern void LedOn(int ch);
+extern void LedOff(int ch);
+extern void LedToggle(int ch);
+extern void LedOffAll(void);
+extern void LedOnAll(void);
+
+#endif
\ No newline at end of file