forked from logzhan/RobotHardware-UESTC
106 lines
3.6 KiB
C++
106 lines
3.6 KiB
C++
#ifndef PIBOT_BOARD_H_
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#define PIBOT_BOARD_H_
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//class Queue;
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#include "queue.h"
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enum USART_NUMBER
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{
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USART_1 = 1,
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USART_2,
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USART_3,
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USART_4,
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USART_5,
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USART_6,
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};
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enum MOTOR_ID
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{
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MOTOR_1 = 0,
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MOTOR_2,
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MOTOR_3,
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MOTOR_4
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};
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#define PIN_MODE_INPUT 0x0
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#define PIN_MODE_OUTPUT 0x1
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#define PIN_MODE_INPUT_PULLUP 0x2
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// output
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#define _RUN_LED 0
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#define _JS_CMD 1
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#define _JS_CS 2
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#define _JS_CLK 3
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//input
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#define _JS_DAT 0
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class Board
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{
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public:
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virtual void init()=0;
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virtual void enable_irq()=0;
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virtual void disable_irq()=0;
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virtual void Usart_DebugInit()=0;
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virtual void usart_init(unsigned char num, unsigned long buad)=0;
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virtual Queue* usart_getDataQueue(unsigned char num)=0;
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virtual void usart_write(unsigned char num, unsigned char ch)=0;
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virtual void usart_write(unsigned char num, unsigned char* data, unsigned char len)=0;
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virtual void set_config(unsigned char* data, unsigned short len)=0;
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virtual void get_config(unsigned char* data, unsigned short len)=0;
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virtual unsigned long getTickCount()=0;
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virtual void setDOState(unsigned char led_id, unsigned char operation) = 0;
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virtual bool getDIState(unsigned char id) = 0;
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virtual void motor_init(unsigned char num, unsigned long period)=0;
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virtual void motor_pwm(unsigned char num, long pwm_value)=0;
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virtual void encoder_init(unsigned char motor_id) = 0;
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virtual long GetEncoderCount(unsigned char motor_id) = 0;
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virtual void i2c_init() = 0;
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virtual unsigned char i2c_write_byte(unsigned char equipment_address, unsigned char reg_address , unsigned char pt_char)=0;
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virtual unsigned char i2c_write_buf(unsigned char equipment_address, unsigned char reg_address , unsigned char* pt_char , unsigned char size) = 0;
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virtual unsigned char i2c_read_byte(unsigned char equipment_address, unsigned char reg_address , unsigned char* pt_char) = 0;
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virtual unsigned char i2c_read_buf(unsigned char equipment_address, unsigned char reg_address , unsigned char* pt_char , unsigned char size) = 0;
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unsigned char i2c_write_bit(unsigned char equipment_address, unsigned char reg_address, unsigned char bitNum, unsigned char data){
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unsigned char b=0;
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i2c_read_byte(equipment_address, reg_address, &b);
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b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum));
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return i2c_write_byte(equipment_address, reg_address, b);
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}
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unsigned char i2c_write_bits(unsigned char devAddr, unsigned char regAddr, unsigned char bitStart, unsigned char length, unsigned char data) {
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unsigned char b;
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if (i2c_read_byte(devAddr, regAddr, &b) != 0) {
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unsigned char mask = ((1 << length) - 1) << (bitStart - length + 1);
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data <<= (bitStart - length + 1); // shift data into correct position
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data &= mask; // zero all non-important bits in data
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b &= ~(mask); // zero all important bits in existing byte
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b |= data; // combine data with existing byte
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return i2c_write_byte(devAddr, regAddr, b);
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} else {
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return 0;
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}
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}
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int i2c_read_bits(unsigned char devAddr, unsigned char regAddr, unsigned char bitStart, unsigned char length, unsigned char *data) {
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unsigned char count, b;
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if ((count = i2c_read_byte(devAddr, regAddr, &b)) != 0) {
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unsigned char mask = ((1 << length) - 1) << (bitStart - length + 1);
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b &= mask;
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b >>= (bitStart - length + 1);
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*data = b;
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}
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return count;
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}
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static Board* get();
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};
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#endif
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