ir_comms.h File Reference

Handles IR communication between robots using the ring of IR transmitters/receivers. More...

Go to the source code of this file.

Data Structures
struct	IRCommsMessage
	Message received over IR ring (contains the sending transmitter ID and receiving ID) More...

Typedefs
typedef struct IRCommsMessage	irCommsMessage
	Message received over IR ring (contains the sending transmitter ID and receiving ID) More...

Functions
void	irCommsSetSize (uint8 size)
	Sets the size, in bits, of the IR comms message. More...
void	irCommsSetXmitPower (uint16 power)
	Sets IR Comms xmit power. More...
boolean	irCommsSendMessage (irCommsMessage *irMessagePtr)
	Sends out a message through IR transmitters if RC mode isn't active. Message is 1-5 bytes of data, first byte is robot ID. More...
boolean	irCommsGetMessage (irCommsMessage *irMessagePtr)
	Gets a message through IR transmitters if RC mode not engaged. More...
void	irCommsOrientationBitMatrixPrint (uint8 *orientationBitsMatrixPtr, uint8 *rangeBitsMatrixPtr)
	Prints orientation bit matrix. More...
void	irCommsInit (void)
	Initializes IRComms. More...

Detailed Description

Handles IR communication between robots using the ring of IR transmitters/receivers.

Since

April 12, 2012

Author

James McLurkin

Typedef Documentation

typedef struct IRCommsMessage irCommsMessage

Message received over IR ring (contains the sending transmitter ID and receiving ID)

Warning

If you are using the neighbor system, you have 7 less bits than this says.

Function Documentation

boolean irCommsGetMessage

(

irCommsMessage *

irMessagePtr)

Gets a message through IR transmitters if RC mode not engaged.

Parameters

irMessagePtr

pointer to the irCommsMessage struct that contains receiver information

Returns

TRUE if there is a message, FALSE if not

void irCommsInit

(

void

)

Initializes IRComms.

Creates the OS message queues. Initializes IR port for GPIO and set it as input. Sets PWM pins; computes and sets pwm period based on system clock. Enables PWM generators and output state. Enables a 1250hz (800us) interrupt.

Returns

void

void irCommsOrientationBitMatrixPrint	(	uint8 *	orientationBitsMatrixPtr,
		uint8 *	rangeBitsMatrixPtr
	)

Prints orientation bit matrix.

Parameters

orientationBitsMatrixPtr	is the pointer to an orientation bit matrix
rangeBitsMatrixPtr

Returns

void

boolean irCommsSendMessage

(

irCommsMessage *

irMessagePtr)

Sends out a message through IR transmitters if RC mode isn't active. Message is 1-5 bytes of data, first byte is robot ID.

Parameters

irMessagePtr

pointer to the irCommsMessage struct that contains the message to be sent

Returns

whether the message is sent (TRUE/FALSE)

void irCommsSetSize

(

uint8

size)

Sets the size, in bits, of the IR comms message.

Parameters

size	the size of the data portion of the ir message.

void irCommsSetXmitPower

(

uint16

power)

Sets IR Comms xmit power.

Parameters

power

range from 0-256 changes duty cycle from 0-100%

Returns

void