root / include / libdragonfly / bom.h @ 1554
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1 | 1554 | gnagaraj | /**
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2 | * Copyright (c) 2007 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | **/
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25 | |||
26 | |||
27 | /**
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28 | * @file bom.h
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29 | * @brief Definitions for using the BOM
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30 | *
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31 | * This file contains definitions for using the Bearing and
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32 | * Orientation Module (BOM).
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33 | *
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34 | * @author Colony Project, CMU Robotics Club
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35 | *
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36 | **/
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37 | |||
38 | #ifndef _BOM_H
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39 | #define _BOM_H
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40 | |||
41 | /**
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42 | * @addtogroup bom
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43 | * @{
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44 | **/
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45 | |||
46 | /** @brief Include all elements in the 16-bit bitfield **/
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47 | #define BOM_ALL 0xFFFF |
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48 | |||
49 | /** @brief Original BOM - No Range, No Individual LED control **/
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50 | #define BOM10 0 |
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51 | |||
52 | /** @brief BOM 1.5 - No Range, Individual LED control **/
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53 | #define BOM15 1 |
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54 | |||
55 | /** @brief RBOM - Range, Individual LED control **/
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56 | #define RBOM 2 |
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57 | |||
58 | |||
59 | /** @brief Initialize the bom according to bom type **/
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60 | void bom_init(char type); |
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61 | |||
62 | /** @brief Refresh bom_val[] with new values from analog8. analog_init and bom_init must be called for this to work. **/
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63 | void bom_refresh(int bit_field); |
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64 | |||
65 | /** @brief Gets the bom reading from bom_val[which]. Call bom_refresh beforehand to read new bom values. **/
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66 | int bom_get(int which); |
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67 | |||
68 | /** @brief Compares all the values in bom_val[] and returns the index to the highest value element. **/
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69 | int bom_get_max(void); |
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70 | |||
71 | /** @brief Enables the selected bom leds on a BOM1.5 **/
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72 | void bom_set_leds(int bit_field); |
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73 | |||
74 | /** @brief (DEPRECATED) Gets and compares all bom values. Returns the index to the highest value element since last refresh. **/
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75 | int get_max_bom(void); |
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76 | |||
77 | /** @brief Turns on all BOM leds, or turns on enabled leds on a BOM1.5. **/
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78 | void bom_on(void); |
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79 | |||
80 | /** @brief Turns off all bom leds. **/
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81 | void bom_off(void); |
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82 | |||
83 | /** @} **/
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84 | |||
85 | #endif
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