linefollower  2.0.0.0
linefollower.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright© 2020 MikroElektronika d.o.o.
4  *
5  * Permission is hereby granted, free of charge, to any person
6  * obtaining a copy of this software and associated documentation
7  * files (the "Software"), to deal in the Software without restriction,
8  * including without limitation the rights to use, copy, modify, merge,
9  * publish, distribute, sublicense, and/or sell copies of the Software,
10  * and to permit persons to whom the Software is furnished to do so,
11  * subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19  * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22  * OR OTHER DEALINGS IN THE SOFTWARE.
23  */
24 
33 // ----------------------------------------------------------------------------
34 
35 #ifndef LINEFOLLOWER_H
36 #define LINEFOLLOWER_H
37 
38 #include "drv_digital_in.h"
39 
40 // -------------------------------------------------------------- PUBLIC MACROS
50 #define LINEFOLLOWER_MAP_MIKROBUS( cfg, mikrobus ) \
51  cfg.u2= MIKROBUS( mikrobus, MIKROBUS_AN ); \
52  cfg.u1= MIKROBUS( mikrobus, MIKROBUS_RST ); \
53  cfg.u5= MIKROBUS( mikrobus, MIKROBUS_PWM ); \
54  cfg.u4= MIKROBUS( mikrobus, MIKROBUS_RX ); \
55  cfg.u3= MIKROBUS( mikrobus, MIKROBUS_TX );
56 
62 #define LINEFOLLOWER_RETVAL uint8_t
63 
64 #define LINEFOLLOWER_OK 0x00
65 #define LINEFOLLOWER_INIT_ERROR 0xFF
66 
72 #define LINEFOLLOWER_DATA_DIR_START 0x00
73 #define LINEFOLLOWER_DATA_DIR_1 0x01
74 #define LINEFOLLOWER_DATA_DIR_2 0x02
75 #define LINEFOLLOWER_DATA_DIR_3 0x03
76 #define LINEFOLLOWER_DATA_DIR_4 0x04
77 #define LINEFOLLOWER_DATA_DIR_6 0x06
78 #define LINEFOLLOWER_DATA_DIR_7 0x07
79 #define LINEFOLLOWER_DATA_DIR_8 0x08
80 #define LINEFOLLOWER_DATA_DIR_12 0x0C
81 #define LINEFOLLOWER_DATA_DIR_16 0x10
82 #define LINEFOLLOWER_DATA_DIR_24 0x18
83 #define LINEFOLLOWER_DATA_DIR_28 0x1C
84 #define LINEFOLLOWER_DATA_DIR_31 0x1F
85 
91 #define LINEFOLLOWER_BIT_0 0x01
92 #define LINEFOLLOWER_BIT_1 0x02
93 #define LINEFOLLOWER_BIT_2 0x04
94 #define LINEFOLLOWER_BIT_3 0x08
95 #define LINEFOLLOWER_BIT_4 0x10
96 
102 #define LINEFOLLOWER_DIR_STRAIGHT 0x00
103 #define LINEFOLLOWER_DIR_LEFT 0x01
104 #define LINEFOLLOWER_DIR_RIGHT 0x02
105 #define LINEFOLLOWER_DIR_SHARP_LEFT 0x03
106 #define LINEFOLLOWER_DIR_SHARP_RIGHT 0x04
107 #define LINEFOLLOWER_DIR_TRACKING_LOST 0x05
108  // End group macro
111 // --------------------------------------------------------------- PUBLIC TYPES
120 typedef struct
121 {
122  // Input pins
123 
124  digital_in_t u1;
125  digital_in_t u2;
126  digital_in_t u3;
127  digital_in_t u4;
128  digital_in_t u5;
129 
131 
135 typedef struct
136 {
137  // Additional gpio pins
138 
139  pin_name_t u1;
140  pin_name_t u2;
141  pin_name_t u3;
142  pin_name_t u4;
143  pin_name_t u5;
144 
146  // End types group
148 // ------------------------------------------------------------------ CONSTANTS // End constants group
157 // ------------------------------------------------------------------ VARIABLES
162 typedef struct
163 {
164  uint8_t u1;
165  uint8_t u2;
166  uint8_t u3;
167  uint8_t u4;
168  uint8_t u5;
169 
171  // End variable group
173 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
174 
180 #ifdef __cplusplus
181 extern "C"{
182 #endif
183 
193 
202 
216 
230 
244 
258 
272 
284 
314 
315 
316 #ifdef __cplusplus
317 }
318 #endif
319 #endif // _LINEFOLLOWER_H_
320  // End public_function group
323 
324 // ------------------------------------------------------------------------- END
linefollower_cfg_t::u2
pin_name_t u2
Definition: linefollower.h:140
linefollower_cfg_t
Click configuration structure definition.
Definition: linefollower.h:136
linefollower_cfg_t::u1
pin_name_t u1
Definition: linefollower.h:139
linefollower_t::u3
digital_in_t u3
Definition: linefollower.h:126
linefollower_get_u1
uint8_t linefollower_get_u1(linefollower_t *ctx)
Get status of U1 pin function.
linefollower_direction_t::u1
uint8_t u1
Definition: linefollower.h:164
linefollower_direction_t::u5
uint8_t u5
Definition: linefollower.h:168
linefollower_direction_t::u2
uint8_t u2
Definition: linefollower.h:165
linefollower_direction_t
Definition: linefollower.h:163
linefollower_t::u1
digital_in_t u1
Definition: linefollower.h:124
linefollower_direction_t::u3
uint8_t u3
Definition: linefollower.h:166
linefollower_cfg_t::u5
pin_name_t u5
Definition: linefollower.h:143
linefollower_get_u2
uint8_t linefollower_get_u2(linefollower_t *ctx)
Get status of U2 pin function.
linefollower_get_u5
uint8_t linefollower_get_u5(linefollower_t *ctx)
Get status of U5 pin function.
linefollower_data_track
void linefollower_data_track(linefollower_t *ctx, linefollower_direction_t *data_track)
Get status of all pin function.
linefollower_t
Click ctx object definition.
Definition: linefollower.h:121
linefollower_t::u4
digital_in_t u4
Definition: linefollower.h:127
linefollower_direction_t::u4
uint8_t u4
Definition: linefollower.h:167
linefollower_get_direction
uint8_t linefollower_get_direction(linefollower_t *ctx)
Get direction data function.
LINEFOLLOWER_RETVAL
#define LINEFOLLOWER_RETVAL
Definition: linefollower.h:62
linefollower_t::u5
digital_in_t u5
Definition: linefollower.h:128
linefollower_cfg_t::u4
pin_name_t u4
Definition: linefollower.h:142
linefollower_t::u2
digital_in_t u2
Definition: linefollower.h:125
linefollower_cfg_t::u3
pin_name_t u3
Definition: linefollower.h:141
linefollower_cfg_setup
void linefollower_cfg_setup(linefollower_cfg_t *cfg)
Config Object Initialization function.
linefollower_get_u3
uint8_t linefollower_get_u3(linefollower_t *ctx)
Get status of U3 pin function.
linefollower_init
LINEFOLLOWER_RETVAL linefollower_init(linefollower_t *ctx, linefollower_cfg_t *cfg)
Initialization function.
linefollower_get_u4
uint8_t linefollower_get_u4(linefollower_t *ctx)
Get status of U4 pin function.