utils.h

来自「一个机器人开发的相关嵌入式开发源码」· C头文件 代码 · 共 105 行

#ifndef _UTILS_H_
#define _UTILS_H_

/******************************************************************************
 * Includes
 *****************************************************************************/
#include "general.h"
#include <lpc2xxx.h>
#include <unistd.h>
#include "uart.h"
#include "utils.h"
#include "startup/config.h"
#include "startup/framework.h"

#define CRYSTAL_FREQUENCY FOSC
#define PLL_FACTOR        PLL_MUL
#define VPBDIV_FACTOR     PBSD

/* PROTO 
#define IR_RECV           0x0F000000  // pins 0.24 0.25 0.26 0.27  low is active
#define IR_SEND           0xF0000000  // pins 0.04 0.29 0.30 0.31  high is active
#define IR_X_FORWARD      0x10000000
#define IR_X_RIGHT        0x80000000
#define IR_X_BACK         0x40000000
#define IR_X_LEFT         0x20000000
#define IR_R_FORWARD      0x02000000
#define IR_R_RIGHT        0x01000000
#define IR_R_BACK         0x08000000
#define IR_R_LEFT         0x04000000
*/

#define IR_SEND           0xF0000000  // pins 0.28 0.29 0.30 0.31  high is active
#define IR_X_FORWARD      0x80000000
#define IR_X_LEFT         0x40000000
#define IR_X_BACK         0x20000000
#define IR_X_RIGHT        0x10000000
#define IR_RECV           0x0F000000  // pins 0.24 0.25 0.26 0.27  low is active
#define IR_R_FORWARD      0x08000000
#define IR_R_LEFT         0x04000000
#define IR_R_BACK         0x02000000
#define IR_R_RIGHT        0x01000000

#define FORWARD           0x08
#define LEFT              0x04
#define BACK              0x02
#define RIGHT             0x01

extern void
printNumber(unsigned char,
            unsigned char,
            unsigned char,
            unsigned char,
            unsigned int);

extern void
delayUs(unsigned int);

extern void
initRTC();

extern void
initPwm(unsigned int);

extern void
initServos();

extern void
setPwmDutyPercent(int, int);

extern void
setServos(int, int);

extern void 
initIR();

extern unsigned int
listenIR(unsigned int);

extern void
sendIR(unsigned int, unsigned int, unsigned char);

extern unsigned int
bounceIR(unsigned int, unsigned char);

extern unsigned char 
atoh(unsigned char);

extern void
testIR();

extern unsigned char 
read_id_pins();

extern void 
bits_dir(unsigned char);

extern void
bits_write(unsigned char);

extern unsigned char 
bits_read();

#endif