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