promotion.h.svn-base

AVR单片机下

/*                ****ROBOCON 2009 | BUPT TEAM*******
 * ------------------------------------------------------------------------
 * FileName   : promotion.h
 * Version    : 1.0
 * Biref      :
 * Code by    : leaf
 * Date       : Mar 30, 2009
 * Note       : use 'prom' short for promotion as function prefix
 *
 *
 * ------------------------------------------------------------------------
 */
#ifndef PROMOTION_H_INCLUDED
#define PROMOTION_H_INCLUDED
#include "lib_bupt/includes.h"
#include "lib_bupt/usart.h"
typedef Usart* PromPort;

typedef UINT8 PromId;
#define PROM_SINGLE  ((PromId)255)

typedef struct{
	PromPort port;
	PromId   id;    /* if id == 0, 则是单独的驱动器，否则处在一主多从模式下 */
	Bool     waitAck;
}Promotion;

void promPortInit(PromPort p, Ubrr baud);
void promBroadcast(PromPort p, const char *cmd);
void promInit(Promotion *p, PromPort port, PromId id);
void promSendCommand(Promotion *p, const char *cmd);
void promSureCommand( Promotion *p, const char *cmd, const char *ack );
void promSpeed(Promotion *p, SPEED_T speed);
void promVotage(Promotion *p, INT16 v);
void promCurrent(Promotion *p, INT16 c);
void promMove(Promotion *p, DIST_T dist);
void promPosition(Promotion *p, DIST_T dist);

void promSetWaitAck(Promotion *p, Bool);
void promWaitAck(Promotion *p, const char *ack);
void promChangeBaud(PromPort p, UINT32 baudrate);
void promChangeId(Promotion *p, PromId id);
#endif  /* PROMOTION_H_INCLUDED */