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127 lines
4.9 KiB
127 lines
4.9 KiB
/**
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* \file
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* \brief Reflectance sensor driver interface.
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* \author Erich Styger, erich.styger@hslu.ch
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* \license SPDX-License-Identifier: BSD-3-Clause
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* This module implements a driver for the reflectance sensor array.
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*/
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#ifndef REFLECTANCE_H_
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#define REFLECTANCE_H_
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#include "platform.h"
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#include <stdint.h>
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#include <stdbool.h>
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#if PL_CONFIG_USE_LINE_SENSOR
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#if PL_IS_ZUMO_ROBOT
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#define REF_SENSOR1_IS_LEFT 0 /* if sensor 1 is on the left side */
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#define REF_MIN_LINE_VAL 0x60 /* minimum value indicating a line */
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#define REF_MIN_NOISE_VAL 0x40 /* values below this are not added to the weighted sum */
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#define REF_SENSOR_TIMEOUT_US 1200 /* after this time, consider no reflection (black) */
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#elif PL_IS_ROUND_ROBOT
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#define REF_SENSOR1_IS_LEFT 0 /* if sensor 1 is on the left side */
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#define REF_MIN_LINE_VAL 0x20 /* minimum value indicating a line */
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#define REF_MIN_NOISE_VAL 0x0F /* values below this are not added to the weighted sum */
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#define REF_SENSOR_TIMEOUT_US 3000 /* after this time, consider no reflection (black) */
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#elif PL_IS_TRACK_ROBOT
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#define REF_SENSOR1_IS_LEFT 1 /* if sensor 1 is on the left side */
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#define REF_MIN_LINE_VAL 0x20 /* minimum value indicating a line */
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#define REF_MIN_NOISE_VAL 0x0F /* values below this are not added to the weighted sum */
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#define REF_SENSOR_TIMEOUT_US 3000 /* after this time, consider no reflection (black) */
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#elif PL_IS_INTRO_ZUMO_ROBOT
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#define REF_SENSOR1_IS_LEFT 1 /* if sensor 1 is on the left side */
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#define REF_MIN_LINE_VAL 0x20 /* minimum value indicating a line */
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#define REF_MIN_NOISE_VAL 0x10 /* values below this are not added to the weighted sum */
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#define REF_SENSOR_TIMEOUT_US 3000 /* after this time, consider no reflection (black) */
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#elif PL_IS_INTRO_ZUMO_ROBOT2 || PL_IS_INTRO_ZUMO_K22
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#define REF_SENSOR1_IS_LEFT 1 /* if sensor 1 is on the left side */
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#if PL_DO_MINT /* different color/reflection for MINT environment */
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#define REF_MIN_LINE_VAL 0x120 /* minimum value indicating a line */
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#define REF_MIN_NOISE_VAL 0x80 /* values below this are not added to the weighted sum */
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#else
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#define REF_MIN_LINE_VAL 0x100 /* minimum value indicating a line */
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#define REF_MIN_NOISE_VAL 0x40 /* values below this are not added to the weighted sum */
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#endif
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#define REF_SENSOR_TIMEOUT_US 300 /* after this time, consider no reflection (black). Must be smaller than the timeout period of the RefCnt timer! */
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#else
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#error "unknown configuration!"
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#endif
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#if PL_CONFIG_USE_SHELL
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#include "McuShell.h"
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/*!
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* \brief Shell parser routine.
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* \param cmd Pointer to command line string.
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* \param handled Pointer to status if command has been handled. Set to TRUE if command was understood.
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* \param io Pointer to stdio handle
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* \return Error code, ERR_OK if everything was ok.
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*/
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uint8_t REF_ParseCommand(const unsigned char *cmd, bool *handled, const McuShell_StdIOType *io);
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#endif
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#if (PL_IS_ZUMO_ROBOT || PL_IS_INTRO_ZUMO_ROBOT || PL_IS_INTRO_ZUMO_ROBOT2 || PL_IS_INTRO_ZUMO_K22)
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#define REF_NOF_SENSORS 6
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#elif (PL_IS_ROUND_ROBOT || PL_IS_TRACK_ROBOT)
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#define REF_NOF_SENSORS 8
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#else
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#error "unknown configuration!"
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#endif
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#define REF_MIDDLE_LINE_VALUE ((REF_NOF_SENSORS+1)*1000/2)
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#define REF_MAX_LINE_VALUE ((REF_NOF_SENSORS+1)*1000) /* maximum value for REF_GetLine() */
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typedef enum {
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REF_LINE_NONE=0, /* no line, sensors do not see a line */
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REF_LINE_STRAIGHT=1, /* forward line |, sensors see a line underneath */
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REF_LINE_LEFT=2, /* left half of sensors see line */
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REF_LINE_RIGHT=3, /* right half of sensors see line */
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REF_LINE_FULL=4, /* all sensors see a line */
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REF_LINE_AIR=5, /* all sensors have a timeout value. Robot is not on ground at all? */
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REF_NOF_LINES /* Sentinel */
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} REF_LineKind;
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typedef enum {
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REF_LINE_KIND_MODE_LINE_FOLLOW, /* returns REF_LINE_NONE, REF_LINE_STRAIGHT or REF_LINE_FULL */
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REF_LINE_KIND_MODE_ALL, /* returns all different line kinds */
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REF_LINE_KIND_MODE_MAZE, /* returns all different line kinds */
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REF_LINE_KIND_MODE_SUMO, /* returns all different line kinds */
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} REF_LineKindMode;
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REF_LineKind REF_GetLineKind(REF_LineKindMode mode);
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void REF_DumpCalibrated(void);
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unsigned char *REF_LineKindStr(REF_LineKind line);
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uint16_t REF_GetLineValue(bool *onLine);
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uint16_t REF_LineWidth(void);
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void REF_GetSensorValues(uint16_t *values, int nofValues);
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/*!
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* \brief Starts or stops the calibration.
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*/
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void REF_CalibrateStartStop(void);
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/*!
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* \brief Function to find out if we can use the sensor (means: it is calibrated and not currently calibrating)
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* \return TRUE if the sensor is ready.
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*/
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bool REF_CanUseSensor(void);
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/*!
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* \brief Driver Deinitialization.
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*/
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void REF_Deinit(void);
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/*!
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* \brief Driver Initialization.
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*/
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void REF_Init(void);
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#endif /* PL_CONFIG_USE_LINE_SENSOR */
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#endif /* REFLECTANCE_H_ */
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