linefollower.h

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/*
 * MikroSDK - MikroE Software Development Kit
 * Copyright© 2020 MikroElektronika d.o.o.
 * 
 * Permission is hereby granted, free of charge, to any person 
 * obtaining a copy of this software and associated documentation 
 * files (the "Software"), to deal in the Software without restriction, 
 * including without limitation the rights to use, copy, modify, merge, 
 * publish, distribute, sublicense, and/or sell copies of the Software, 
 * and to permit persons to whom the Software is furnished to do so, 
 * subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be 
 * included in all copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE 
 * OR OTHER DEALINGS IN THE SOFTWARE. 
 */
 
// ----------------------------------------------------------------------------
 
#ifndef LINEFOLLOWER_H
#define LINEFOLLOWER_H
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_in.h"
 
// -------------------------------------------------------------- PUBLIC MACROS 
#define LINEFOLLOWER_MAP_MIKROBUS( cfg, mikrobus ) \
  cfg.u2= MIKROBUS( mikrobus, MIKROBUS_AN );       \
  cfg.u1= MIKROBUS( mikrobus, MIKROBUS_RST );      \
  cfg.u5= MIKROBUS( mikrobus, MIKROBUS_PWM );      \
  cfg.u4= MIKROBUS( mikrobus, MIKROBUS_RX );       \
  cfg.u3= MIKROBUS( mikrobus, MIKROBUS_TX );
#define LINEFOLLOWER_RETVAL  uint8_t
 
#define LINEFOLLOWER_OK           0x00
#define LINEFOLLOWER_INIT_ERROR   0xFF
#define LINEFOLLOWER_DATA_DIR_START       0x00
#define LINEFOLLOWER_DATA_DIR_1           0x01
#define LINEFOLLOWER_DATA_DIR_2           0x02
#define LINEFOLLOWER_DATA_DIR_3           0x03
#define LINEFOLLOWER_DATA_DIR_4           0x04
#define LINEFOLLOWER_DATA_DIR_6           0x06
#define LINEFOLLOWER_DATA_DIR_7           0x07
#define LINEFOLLOWER_DATA_DIR_8           0x08
#define LINEFOLLOWER_DATA_DIR_12          0x0C
#define LINEFOLLOWER_DATA_DIR_16          0x10
#define LINEFOLLOWER_DATA_DIR_24          0x18
#define LINEFOLLOWER_DATA_DIR_28          0x1C
#define LINEFOLLOWER_DATA_DIR_31          0x1F
#define LINEFOLLOWER_BIT_0                 0x01
#define LINEFOLLOWER_BIT_1                 0x02
#define LINEFOLLOWER_BIT_2                 0x04
#define LINEFOLLOWER_BIT_3                 0x08
#define LINEFOLLOWER_BIT_4                 0x10
#define LINEFOLLOWER_DIR_STRAIGHT         0x00
#define LINEFOLLOWER_DIR_LEFT             0x01
#define LINEFOLLOWER_DIR_RIGHT            0x02
#define LINEFOLLOWER_DIR_SHARP_LEFT       0x03
#define LINEFOLLOWER_DIR_SHARP_RIGHT      0x04
#define LINEFOLLOWER_DIR_TRACKING_LOST    0x05
 // End group macro 
// --------------------------------------------------------------- PUBLIC TYPES
typedef struct
{
    // Input pins 
 
    digital_in_t u1;
    digital_in_t u2;
    digital_in_t u3;
    digital_in_t u4;
    digital_in_t u5;
 
} linefollower_t;
 
typedef struct
{
    // Additional gpio pins 
 
    pin_name_t u1;
    pin_name_t u2;
    pin_name_t u3;
    pin_name_t u4;
    pin_name_t u5;
 
} linefollower_cfg_t;
 
 // End types group
// ------------------------------------------------------------------ CONSTANTS
 // End constants group
// ------------------------------------------------------------------ VARIABLES
typedef struct
{
    uint8_t u1;
    uint8_t u2;
    uint8_t u3;
    uint8_t u4;
    uint8_t u5;
 
} linefollower_direction_t;
 
 // End variable group
// ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
 
#ifdef __cplusplus
extern "C"{
#endif
 
void linefollower_cfg_setup ( linefollower_cfg_t *cfg );
 
LINEFOLLOWER_RETVAL linefollower_init ( linefollower_t *ctx, linefollower_cfg_t *cfg );
 
uint8_t linefollower_get_u1 ( linefollower_t *ctx );
 
uint8_t linefollower_get_u2 ( linefollower_t *ctx );
 
uint8_t linefollower_get_u3 ( linefollower_t *ctx );
 
uint8_t linefollower_get_u4 ( linefollower_t *ctx );
 
uint8_t linefollower_get_u5 ( linefollower_t *ctx );
 
void linefollower_data_track ( linefollower_t *ctx, linefollower_direction_t *data_track );
 
uint8_t linefollower_get_direction ( linefollower_t *ctx );
 
 
#ifdef __cplusplus
}
#endif
#endif  // _LINEFOLLOWER_H_
 
 // End public_function group
 
// ------------------------------------------------------------------------- END