Basic functions

Functions which handle basics. More...

Modules
	Advanced informations

Enumerations
enum	eRequestType
	enum used to cluster the different request types to a single module More...

Functions
void	uint16tostr (void *out, uint16_t number, uint8_t digits)
	Converts an unsigned integer to a string and passes it to an output function. More...
void	int16tostr (void *out, int16_t number, uint8_t digits)
	Converts an integer to a string and passes it to an output function. More...
void	init_tucbot (uint8_t enable_interrupts)
	Initiates the TUC-Bot. More...
void	reset_tucbot (void)
	Restarting the TUC-Bot. More...

CRC-Functions
uint16_t	crc_calculate (void *data, uint16_t cnt)
	Calculates crc16 hash of the given data. More...
uint16_t	crc_update (uint16_t crc, uint8_t data)
	Internal function for incrementally calculating crc16. More...

Detailed Description

Functions which handle basics.

Enumeration Type Documentation

eRequestType

enum eRequestType

enum used to cluster the different request types to a single module

See also

• The general request

Enumerator
kRequestClear	constant (0): clear all requests
kRequestSingle	constant (1): request a single update
kRequestWait	constant (2): request a single update and wait until it is done
kRequestContinuous	constant (3): request continuous updates

Function Documentation

crc_calculate()

uint16_t crc_calculate	(	void *	data,
		uint16_t	cnt
	)

Calculates crc16 hash of the given data.

To use this function, include tucbot_additionals/crc.h into your code.

Parameters

[in]	data	Pointer to data structure.
[in]	cnt	Size of data structure.

crc_update()

uint16_t crc_update	(	uint16_t	crc,
		uint8_t	data
	)

Internal function for incrementally calculating crc16.

To use this function, include tucbot_additionals/crc.h into your code.

Parameters

[in]	crc	Value of CRC after last iteration.
[in]	data	Current char/byte, which is will be added to the CRC.

init_tucbot()

void init_tucbot

(

uint8_t

enable_interrupts

)

Initiates the TUC-Bot.

This function must be called within the main function.

It initiates the hardware, the system and all internal variables. The IMU is a somewhat special case. It will only be initiated, if the interrupts are enabled. Otherwise the function tucbot_imu_reset() needs to be called.

If the enable_interrupts parameter is set to true (!= 0) all interrupts will be activated at the end of initialization. Otherwise the user has to call sei().

Note

: This function must only be called once. If it is called a second time the function reset_tucbot() is automatically executed.

: If enable_interrupts is set to false (0x00), the IMU is not initialized.

Parameters

enable_interrupts

8-bit unsigned integer which is a boolean value

See also

reset_tucbot() and tucbot_imu_reset()

Examples

battery.c, beeper.c, bumper.c, button.c, cyclic.c, driveAdjust.pupil.c, driveAngle.pupil.c, driveArc.pupil.c, driveDist.pupil.c, encoderComplex.c, encoderSimple.c, imu.c, lausTracker.c, led.c, lineComplex.c, lineSimple.c, mode.c, motorComplex.c, motorSimple.c, packedCom.c, remoteControl.c, servo.c, sharp.c, tsop.c, twi.c, and uart.c.

int16tostr()

void int16tostr	(	void *	out,
		int16_t	number,
		uint8_t	digits
	)

Converts an integer to a string and passes it to an output function.

Parameters

[in]	out	output function of type "void out(uint8_t)" The resulting string is passed character by character to the output function.
[in]	number	16-bit integer
[in]	digits	8-bit unsigned integer (0..5) The maximum possible number of digits is 5. While the resulting string has less characters then described by digits the string is filled with spaces on the left side. The "-" is put out before any additional spaces.

See also

serout0(), serout1() and lcdout()

Examples

battery.c, beeper.c, driveAdjust.pupil.c, driveAngle.pupil.c, driveArc.pupil.c, driveDist.pupil.c, encoderComplex.c, encoderSimple.c, imu.c, motorComplex.c, motorSimple.c, remoteControl.c, servo.c, and sharp.c.

reset_tucbot()

void reset_tucbot

(

void

)

Restarting the TUC-Bot.

This function simulates a hardware reset and restarts the sensor module of the TUC-Bot. Therefore, execution will start with a full software reset, followed by execution of the bootloader. Finally the main function is executed.

Note

: This effects only the sensor module. The driving module and the IMU will be uneffected, except for general initialisation.

See also

init_tucbot()

uint16tostr()

void uint16tostr	(	void *	out,
		uint16_t	number,
		uint8_t	digits
	)

Converts an unsigned integer to a string and passes it to an output function.

Parameters

[in]	out	output function of type "void out(uint8_t)" The resulting string is passed character by character to the output function.
[in]	number	16-bit unsigned integer
[in]	digits	8-bit unsigned integer (0..5) The maximum possible number of digits is 5. While the resulting string has less characters then described by digits the string is filled with spaces on the left side.

See also

serout0(), serout1() and lcdout()

Examples

lausTracker.c, lineComplex.c, lineSimple.c, packedCom.c, and remoteControl.c.