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RTOS_MotorBoard/bump.h

@@ -0,0 +1,64 @@
+/*
+    Key points:
+        -Switches (PA28, PA31, PA27) are all negative logic
+        -interuppts triggered on falling edge
+
+*/
+#ifndef BUMP_H
+#define BUMP_H
+ 
+#include <stdint.h>
+typedef enum{
+    bump_none = 0x00, // no collisions 
+    bump_right= 0x01, // pa31 collision 
+    bump_left = 0x02, // pa27 
+    bump_center = 0x04, /// pa28
+    
+} bump_status;
+/**
+ * @brief Initialize bump switch GPIO pins and interrupts
+ * 
+ * configures the bump switch pins as inputs with pull-up resistors
+ * and enables falling-edge interrupts for collision detection
+ */
+void bump_init(void);
+
+ /**
+* @brief this can be used in polling just to read the switches
+* @return the state of the swtiches
+ */
+bump_status bump_read(void);
+
+/**
+*@brief this is mostly for lab 7 where when the
+* the switch is still against the wall 
+so we disable interuppts for that split second
+ */
+void bump_disable_interuppts(void);
+
+/**
+ * @brief vice verse, enable once we are away from walls
+  */
+ void bump_enable_interuppts(void);
+ 
+ 
+/**
+* @brief this will cause both motors to turn off for now, we can change in lab 7
+ */
+void bump_collision(void);
+
+void Set_Servo(int16_t angle);
+
+/**
+ * @brief register a callback function for collision events
+ * 
+ * the callback will be called from the ISR when a collision
+ * is detected
+ if there is no call back bump_collision is the default
+ * 
+ * @param callback function pointer to handler 
+ * 
+ * 
+ */
+void Bump_RegisterCallback(void (*callback)(bump_status status));
+#endif