Embedded Robotics (Thomas Braunl, 2 ed, 2006)

Output:

NONE

Semantics:

Set status of given thread to SUSPEND

Input:

NONE

Output:

NONE

Semantics:

Choose new current thread

Input:

NONE

Output:

NONE

Semantics:

Suspend current thread and reschedule

Input:

(thread) pointer to thread control block

Output:

NONE

Semantics:

READY given thread and reschedule

Input:

(thread) pointer to thread control block

Output:

(tcb *)0 for current thread

(returncode) UID of thread

Semantics:

Get the UID of the given thread

Input:

(thread) pointer to thread control block

Output:

NONE

Semantics:

Remove given thread and reschedule

Input:

(code) exit code

Output:

NONE

Semantics:

Kill current thread with given exit code and message

Input:

(msg) pointer to message text

Output:

NONE

Semantics:

Dead end multithreading error, print message to display

and stop processor

Input:

(n) number of 1/100 secs to sleep

Output:

NONE

Semantics:

Let current thread sleep for at least n*1/100

seconds. In multithreaded mode, this will

reschedule another thread. Outside

multi-threaded mode, it will call OSWait().

Input:

NONE

Output:

NONE

Semantics:

disable thread switching in preemptive mode

Input:

NONE

Output:

NONE

Semantics:

enable thread switching in preemptive mode

Semaphores:

int OSSemInit (struct

sem *sem,int val);

Input:

(sem)

pointer to a semaphore

Output:

(val)

NONE

Semantics:

int OSSemP (struct sem *sem);

Input:

(sem) pointer

Output:

NONE

Semantics:

int OSSemV (struct sem *sem);

Input:

(sem) pointer

Output:

NONE

Semantics:

Input:

(hrs) value for hours

(mins) value for minutes

Output:

(secs) value for seconds

NONE

Semantics:

Set system clock to given time

Input:

(hrs) pointer to int for hours

(mins) pointer to int for minutes

(secs) pointer to int for seconds

Output:

(ticks) pointer to int for ticks

(hrs) value of hours

(mins) value of minutes

(secs) value of seconds

Semantics:

(ticks) value of ticks

Get system time, one second has 100 ticks

Input:

NONE

Output:

NONE

Semantics:

Print system time to display

Input:

NONE

Output:

(returncode) number of 1/100 seconds since last reset

Semantics:

Get the number of 1/100 seconds since last reset.

Type int is 32 bits, so this value will wrap

around after ~248 days.

Input:

(n) time to wait

Output:

NONE

Semantics:

Busy loop for n*1/100 seconds.

Input:

(scale) prescale value

for 100Hz Timer (1 to ...)

Output:

(TimerFnc) function to

be called periodically

(TimerHandle) handle to reference the IRQ-slot

A value of 0 indicates

an error due to a full list

Semantics:

(max. 16).

the irq-list.

Attach an irq-routine (void function(void)) to

The scale parameter adjusts the call frequency

(100/scale Hz)

different applications.

installed timer irq

Input:

Output:

0

Semantics:

1

irq-routine from the irq-list.

*name,int *bytes,int baud,int handshake,int interface);

Input:

(name) pointer to program name array

(bytes) pointer to bytes transferred int

(baud) baud rate selection

Valid values

SER57600,

(handshake) handshake selection

Valid values

(interface): serial interface

Output:

Valid values are: SERIAL1-3

(returncode)

0

=

no error, download incomplete - call again

99

=

download complete

1

=

receive

2

=

receive

3

=

send timeout error

5

=

srec checksum error

6

=

user canceled error

7

=

unknown

8

=

illegal

9

=

illegal

10

=

illegal

Semantics:

Load

user program with the given serial setting

and get name

be

!=0. In the loop the bytes that have been

transferred already can be calculated from the

bytes that have been transferred in this round.

Note: do not

baud,int handshake,int interface);

Input:

(baud) baud rate selection

Valid values

SER4800,SER9600,SER19200,SER38400,SER57600,SER115200

(handshake) handshake selection

Valid values

(interface) serial interface

Output:

Valid values

(returncode)

0

=

ok

8

=

illegal

Semantics:

10

=

illegal

Initialize rs232 with given setting

Input:

(chr) character to send

(interface) serial interface

Output:

Valid values

(returncode)

0

=

good

3

=

send timeout error

Semantics:

10

=

Send

Input:

Output:

0

=

3

=

10

=

Semantics:

Send a character over rs232.

Use OSSendCharRS232()

instead. This function will be removed in the future.

Input:

(buf) pointer to a character array

(interface) serial interface

Output:

Valid values are: SERIAL1-3

(returncode)

0 = good

1 = receive timeout error

2 = receive status error

Semantics:

10 = illegal interface

Receive a character over rs232

Input:

(interface) serial interface

Output:

Valid values are: SERIAL1-3

(returncode)

0 = good

Semantics:

10 = illegal interface

resets status of receiver and flushes its

FIFO. Very useful in NOHANDSHAKE-mode to bring

the FIFO in a defined condition before

starting to receive

Input:

(interface) serial interface

Output:

Valid values are: SERIAL1-3

(returncode)

0 = good

Semantics:

10 = illegal interface

very useful to abort

flushes the transmitter-FIFO.

current transmission to host (E.g.: in the case

of a not responding host)

Input:

(interface) serial interface

Output:

Valid values are: SERIAL1-3

(returncode) >0 : the number of chars currently

available in FIFO

<0 : 0xffffff02 receive status error

(no chars available)

Semantics:

0xffffff0a illegal interface

useful to read out only packages of a certain size

Input:

(interface) serial interface

Output:

Valid values are: SERIAL1-3

(returncode) >0 : the number of chars currently

waiting in FIFO

Semantics:

<0 : 0xffffff0a illegal interface

useful to test if the host is receiving

properly or to time transmission of packages

in the speed the host can keep up with

Input:

NONE

Output:

NONE

user program.

Semantics:

Start loaded

Note: do not

use in application programs.

int USRResident (char *name, BOOL mode);

Input:

(mode) mode

are: SET,GET

Output:

Valid values

NONE

loaded user program reset resistant

Semantics:

Make

SET

save startaddress and program name.

GET

restore

startaddress and program name.

Note: do not

use in application programs.

Input:

Output:

(returncode) playfrequency for given sample

Semantics:

(Hz)

5461,

6553,

8192,

10922,

16384,

32768

int AUCheckSample (void);

Input:

NONE

Output:

Semantics:

int AUTone (int

freq, int msec);

Input:

Output:

NONE

Semantics:

Plays tone with given frequency for the given

time (nonblocking)

int AUCheckTone (void);

Input:

NONE

Output:

Semantics:

Output:

(freq) desired samplefrequency

(returncode) real samplefrequency

Semantics:

Samples from microphone into buffer with given

frequency (nonblocking)

Recordformat: AU/SND (pwm) with unsigned 8bit samples

Input:

NONE

Output:

FALSE while recording

Semantics:

nonblocking test for recordend

Input:

NONE

Output:

(returncode) microphone value (10bit)

Semantics:

Get microphone input value

Input:

Output:

Semantics:

Input:

NONE

Output:

NONE

Semantics:

Input:

Output:

0

Semantics:

1

Input:

NONE

Output:

NONE

Semantics:

Input:

NONE

Output:

Semantics:

Input:

Output:

Semantics:

the selected

range for the given sensor, PSD_OUT_OF_RANGE(=9999)

is returned.

Input:

(handle) handle of the desired PSD

Output:

0 for timestamp of actual measure-cycle

(returncode)

Semantics:

Delivers actual timestamp or raw-data measured by

the selected

Input:

Output:

Semantics:

Input:

Output:

Semantics:

Input:

Output:

Semantics:

Input:

Output:

Semantics:

Input:

Output:

Semantics:

Input:

Output:

Semantics:

Set the given motors to the same given speed

Input:

(semantics) semantic

Output:

(returncode) QuadHandle or 0 for error

Semantics:

Initialize given Quadrature-Decoder (up to 8 decoders are

possible)

Input:

(handle) sum of decoder-handles to be released

Output:

0 = ok

Semantics:

-1 = error wrong handle

Release one or more Quadrature-Decoder

Input:

(handle) sum of decoder-handles to be reset

Output:

0 = ok

Semantics:

-1 = error wrong handle

Reset one or more Quadrature-Decoder

Input:

(handle) ONE decoder-handle

Output:

32bit counter-value (0 to 2^32-1)

Semantics:

a wrong handle will ALSO result in an 0 counter-value!!

Read actual Quadrature-Decoder counter

Input:

(handle) ONE decoder-handle

Output:

semantic of the corresponding motor

Semantics:

0 = wrong handle

Get the semantic of the corresponding motor

Input:

(handle) ONE decoder-handle

Output:

meters since last odometer-reset

Semantics:

Get the distance from the last resetpoint of a single motor!

It is not the overall meters driven since the last reset!

It is just the nr of meters left to go back to the startpoint.

Useful to implement a PID-control

Input:

(handle) sum of decoder-handles to be reset

Output:

0 = ok

Semantics:

-1 = error wrong handle

Resets the simple odometer(s) to define the startpoint

Input:

(semantics) semantic

Output:

(Timescale) prescale value for 100Hz IRQ (1 to ...)

(returncode) VWHandle or 0 for error

Semantics:

Initialize given VW-Driver (only 1 can be initialized!)

The motors and encoders are automatically reserved!!

The Timescale allows to adjust the tradeoff between

accuracy (scale=1, update at 100Hz) and speed(scale>1,

update at 100/scale Hz).

int VWRelease (VWHandle

Input:

(handle) VWHandle to be released

Output:

0 = ok

Semantics:

-1 = error wrong handle

Release

Input:

(handle) ONE VWHandle

(v) new

Output:

(w) new

0 = ok

Semantics:

-1 = error wrong handle

Set the

Input:

(handle) ONE VWHandle

Output:

(vw) pointer to record to store actual v, w values

0 = ok

Semantics:

-1 = error wrong handle

Get the

Output:

0

= ok

Semantics:

Input:

Output:

0

= ok

Semantics:

-1

= error wrong handle

Input:

(handle)

ONE VWHandle

(Vv) the

parameter for the proportional component of the

v-controller

(Tv) the

parameter for the integrating component of the

v-controller

(Vw) the

parameter for the proportional component of the

w-controller

(Tv) the

parameter for the integrating component of the

w-controller

Output:

0 = ok

Semantics:

-1 = error wrong handle

Enable the PI-controller for the vw-interface and set

the parameters.

As default the PI-controller is deactivated when the

vw-interface is initialized. The controller tries to keep the

desired speed (set with VWSetSpeed) stable by adapting the

energy of the involved motors.

The parameters for the controller have to be choosen carefully!

The formula for the controller is:

t

new(t) = V*(diff(t) + 1/T * ³diff(t)dt )

0

V: a value usually around 1.0

T: a value usually between 0 and 1.0

After enabling the controller the last set speed (VWSetSpeed)

is taken as the speed to be held stable.

Input:

(handle) ONE VWHandle

Output:

0 = ok

Semantics:

-1 = error wrong handle

Disable the controller immediately. The vw-interface continues

normally with the last valid speed of the controller.

Output:

(v)

0 = ok

Semantics:

-1 = error wrong handle

Drives distance "delta" with speed v straight ahead

(forward or backward).

Any subsequent call of VWDriveStraight, -Turn, -Curve or

VWSetSpeed, while this one is still being executed, results in

an immediate interruption of this command

Input:

(handle)

(delta)

(w)

Output:

0 = ok

Semantics:

-1 = error wrong handle

turns about "delta" with speed w on the spot (clockwise

or counter-clockwise)

any subsequent call of VWDriveStraight, -Turn, -Curve or

VWSetSpeed, while this one is still being executed, results in

an immediate interruption

of this command

Input:

meterpersec v)

(handle)

(delta_l) length of curve_segment to drive in m

(pos. -> forward)

(neg. -> backward)

(delta_phi) degree to turn in radians

(pos. -> counter-clockwise)

(neg. -> clockwise)

Output:

(v)

0 = ok

Semantics:

-1 = error wrong handle

drives a curve segment of length "delta_l" with overall vehicle