Colony

/**

 * @file spi.h

 * @brief Definitions for SPI

 * @author Colony Project, CMU Robotics Club

 **/

/**

 * @addtogroup spi

 * @{

 **/

#ifndef __SPI_H__

#define __SPI_H__

#define DOUBLE_SCK 1

#define SPR0_BIT 1

#define MASTER 1

#define SLAVE 0

#define MOSI _BV(PB2)

#define MISO _BV(PB3)

#define SS   _BV(PB0)

#define SCLK _BV(PB1)

typedef void (*spi_fun_recv_t)(char);

typedef void (*spi_fun_recv_complete_t)(void);

/** 

* @brief Initialize SPI

* 

* @param spi_fun_recv_t The function that handles SPI data, byte for byte.

* @param spi_fun_recv_complete_t  Called on a completed transmission - typically for cleaning up.

*/

void spi_init (spi_fun_recv_t, spi_fun_recv_complete_t);

/** 

* @brief Initialize SPI transfer.

* 

* @param char The number of bytes to transfer.

*/

void spi_transfer (char);

/**@}**/ //end group

#endif

/**

 * 

 * @file encoders.h

 * @brief Contains functions for reading encoder values.

 *

 * Contains high and low level functions for reading encoders

 * including reading out total distance covered, and 

 * eventually velocity.

 *	

 * @author Colony Project, CMU Robotics Club

*/

/**

 * @addtogroup encoders

 * @{

 **/

#ifndef __ENCODERS_H__

#define __ENCODERS_H__

#ifndef LEFT

	#define LEFT 0

#endif

#ifndef RIGHT

	#define RIGHT 1

#endif

/** @brief Magnet misaligned - likely distance from encoder problem. **/

#define ENCODER_MAGNET_FAILURE 1025

/** @brief Encoder misaligned - likely on XY plane. **/

#define ENCODER_MISALIGNED 1027

/** @brief Not enough time has passed - encoders not initialized in hardware. **/

#define ENCODER_DATA_NOT_READY 1026

//delay_ms argument after a full read is complete

#define ENCODER_DELAY 20

#define MIN_V (-100)

#define MAX_V 100

//Data invalid flags (hardware failure):

#define OCF _BV(4)

#define COF _BV(3)

//Data invalid alarm (May be invalid):

#define LIN _BV(2)

#define MagINCn _BV(1)

#define MagDECn _BV(0)

#define BUFFER_SIZE 23

/** @brief Initialize encoders. **/

void encoders_init(void);

/** @brief Read instantaneous encoder value. **/

int encoder_read(char encoder);

/** @brief Get total distance traveled. **/

int encoder_get_dx(char encoder);

/** @brief Reset distance counter. **/

void encoder_rst_dx(char encoder);

/** @brief Get time count: The number of encoder reads that have occurred. **/

int encoder_get_tc(void);

/** @brief Reset the time count. **/

void encoder_rst_tc(void);

/** @brief Waits for the next n encoder reading, then returns. **/

void encoder_wait( int nReadings );

/**@}**/ //end group

#endif

/**

 * @file eeprom.h

 * @brief handles eeprom storage for persistent data

 *

 * Contains functions and definitions for reading and writing to eeprom

 *

 * @author Colony Project, Brad Neuman

 */

 #ifndef _EEPROM_H_

 #define _EEPROM_H_

 #define EEPROM_ROBOT_ID_ADDR 0x0b

 /** @brief store a byte to eeproem

  *  @return 0 if success, nonzero on failure

  */

 int eeprom_put_byte(unsigned int addr, unsigned char byte);

 /** @brief reads a byte from eeprom

  *

  *  Pass it thge address and a pointer to a byte where the byte at the

  *  address will be stored

  *

  *  @return 0 if successful (byte is set to the eeprom value at addr), 

  *  nonzero if there was a problem

   */

 int eeprom_get_byte(unsigned int addr, unsigned char *byte);

 /** @brief get stored robot ID

  *

  *  returnes the value of eerpom at EEPROM_ROBOT_ID_ADDR

  *

  *  @return the robot id, if it is stored. If it returns 0xff it is probably invalid

  */

  unsigned char get_robotid(void);

 #endif