ir_sensor.c File Reference

Driver code for the IR sensor driver. More...

#include <stdint.h>
#include <sys/types.h>
#include "hardware/gpio.h"
#include "hardware/adc.h"
#include "irline/ir_sensor.h"
#include "irline/barcode.h"

Include dependency graph for ir_sensor.c:

Functions
uint16_t	ir_find_wall_directions (uint gpio_pin_left, uint gpio_pin_right)
	This returns the information of the walls in the node. More...
barcode_line_type_t	ir_read_barcode (void)
	This function reads the barcode and determines the colour and the thickness. More...
uint16_t	ir_read_line (uint gpio_pin_in)
	Detects line. More...
void	ir_setup_adc_pin (uint adc_pin)
	Initalises the analog pins for the IR sensor to ADC. More...
void	ir_setup_gpio_pin (uint gpio_pin)
	Initialises the digital pin for the IR sensor. More...
void	ir_update_left_flag (ir_flags_t *p_flag)
	Indicates whether there is a left wall. More...
void	ir_update_top_flag (ir_flags_t *p_flag)
	Indicates whether there is a top wall. More...

Detailed Description

Driver code for the IR sensor driver.

Author

Ang Jia Yu

Version

0.1

Date

2023-10-29

Copyright

Copyright (c) 2023

Function Documentation

ir_find_wall_directions()

uint16_t ir_find_wall_directions	(	uint	gpio_pin_left,
		uint	gpio_pin_right
	)

This returns the information of the walls in the node.

Parameters

[in]	gpio_pin_left	GPIO pin for the left sensor
[in]	gpio_pin_right	GPIO pin for the front sensor

Returns

uint16_t Returns wall directions as a bitfield.

See also

maze_wall_direction_t

References ir_read_line().

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ir_read_barcode()

barcode_line_type_t ir_read_barcode

(

void

)

This function reads the barcode and determines the colour and the thickness.

Returns

barcode_line_type_t Returns the barcode line type.

See also

barcode_line_type

References BARCODE_LINE_BLACK_THICK, BARCODE_LINE_BLACK_THIN, BARCODE_LINE_NONE, BARCODE_LINE_WHITE_THICK, and BARCODE_LINE_WHITE_THIN.

ir_read_line()

uint16_t ir_read_line

(

uint

gpio_pin_in

)

Detects line.

Parameters

[in]

gpio_pin_in

GPIO pin for the IR sensor

Returns

uint16_t Returns 1 if line is detected, 0 otherwise

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ir_setup_adc_pin()

void ir_setup_adc_pin

(

uint

adc_pin

)

Initalises the analog pins for the IR sensor to ADC.

Parameters

[in]

adc_pin

ADC pin for the IR sensor.

ir_setup_gpio_pin()

void ir_setup_gpio_pin

(

uint

gpio_pin

)

Initialises the digital pin for the IR sensor.

Parameters

[in]

gpio_pin

GPIO pin for the IR sensor

ir_update_left_flag()

void ir_update_left_flag

(

ir_flags_t *

p_flag

)

Indicates whether there is a left wall.

Parameters

[out]

p_flag

Pointer to the indicator for the walls.

References ir_flags::left_wall.

ir_update_top_flag()

void ir_update_top_flag

(

ir_flags_t *

p_flag

)

Indicates whether there is a top wall.

Parameters

[out]

p_flag

Pointer to the indicator for the walls.

References ir_flags::top_wall.