vex.h File Reference

Main vex include file. More...

#include <stdarg.h>
#include "vexcompat.h"
#include "vexanalog.h"
#include "vexdigital.h"
#include "vexencoder.h"
#include "vexsonar.h"
#include "vexmotor.h"
#include "vexime.h"
#include "vexconfig.h"
#include "vexspi.h"
#include "vexlcd.h"
#include "vexctl.h"
#include "vexaudio.h"
#include "vexsensor.h"
#include "vexprintf.h"
#include "vexshell.h"
#include "vexbkup.h"

Go to the source code of this file.

Macros
#define	CONVEX_VERSION   "1.0.4"
	ConVEX version string. More...
#define	CH_KERNEL_VERSION_HEX   ((CH_KERNEL_MAJOR << 8) | (CH_KERNEL_MINOR << 4) | (CH_KERNEL_PATCH))
#define	SD_CONSOLE   &SD1
#define	SD_LCD1   &SD2
#define	SD_LCD2   &SD3
ConVEX version
#define	CONVEX_MAJOR   1
	ConVEX version major number. More...
#define	CONVEX_MINOR   0
	ConVEX version minor number. More...
#define	CONVEX_PATCH   4
	ConVEX version patch number. More...
task priorities
#define	SYSTEM_THREAD_PRIORITY   NORMALPRIO + 10
#define	IME_THREAD_PRIORITY   NORMALPRIO + 9
#define	MONITOR_THREAD_PRIORITY   NORMALPRIO + 8
#define	SONAR_THREAD_PRIORITY   NORMALPRIO + 8
#define	LCD_THREAD_PRIORITY   NORMALPRIO
#define	USER_THREAD_PRIORITY   NORMALPRIO + 1
Stack sizes
#define	USER_TASK_STACK_SIZE   512
#define	IME_TASK_STACK_SIZE   0x1D0
#define	SONAR_TASK_STACK_SIZE   0xD0
#define	LCD_TASK_STACK_SIZE   0xD0
#define	TEST_TASK_STACK_SIZE   0xD0
#define	SYSTEM_TASK_STACK_SIZE   0xD0
#define	MONITOR_TASK_STACK_SIZE   0x1D0
#define	AUDIO_TASK_STACK_SIZE   0xD0

Functions
void	vexUserSetup (void) __attribute__((weak))
	User setup. More...
void	vexUserInit (void) __attribute__((weak))
	User initialize. More...
msg_t	vexAutonomous (void *arg)
	Autonomous. More...
msg_t	vexOperator (void *arg)
	Driver control. More...
void	vexCortexInit (void)
	Initialize the VEX cortex. More...
void	vexConsoleInit (void)
	Initialize the console serial port. More...
void	vexTaskRegister (char *name)
	Register a thread so it can be terminated during vexSleep. More...
void	vexTaskRegisterPersistant (char *name, bool_t p)
	Register a thread so it can be terminated during vexSleep. More...
bool_t	vexTaskIsRegistered (Thread *tp)
	Check if this thread was already registered. More...
bool_t	vexTaskPersistentGet (Thread *tp)
	Check if this thread has persistent flag set. More...
void	vexTaskPersistentSet (Thread *tp, bool_t p)
	Set persistent flag. More...
void	vexTaskEmergencyStop (void)
	Stop all tasks. More...
void	vexSleep (int32_t msec)
	Sleep for given number of ms. More...
void	vexWatchdogInit (void)
	Init watchdog timer. More...
void	vexWatchdogReload (void)
	Reload the IWDG - call several times per second. More...
int16_t	vexWatchdogResetFlagGet (void)
	Check to see if the IWDG was the cause of reset. More...
void	vexTest (void)
	Used for testing new ideas. More...
void	vexTestDebug (vexStream *chp, int argc, char *argv[])
	Dump test data for debug. More...
void	vexServiceEncoder (short source, short pa, short pb, long *encoder)

Detailed Description

Main vex include file.

Macro Definition Documentation

#define CONVEX_VERSION   "1.0.4"

ConVEX version string.

#define CONVEX_MAJOR   1

ConVEX version major number.

#define CONVEX_MINOR   0

ConVEX version minor number.

#define CONVEX_PATCH   4

ConVEX version patch number.

#define CH_KERNEL_VERSION_HEX   ((CH_KERNEL_MAJOR << 8) | (CH_KERNEL_MINOR << 4) | (CH_KERNEL_PATCH))

#define SYSTEM_THREAD_PRIORITY   NORMALPRIO + 10

#define IME_THREAD_PRIORITY   NORMALPRIO + 9

#define MONITOR_THREAD_PRIORITY   NORMALPRIO + 8

#define SONAR_THREAD_PRIORITY   NORMALPRIO + 8

#define LCD_THREAD_PRIORITY   NORMALPRIO

#define USER_THREAD_PRIORITY   NORMALPRIO + 1

#define USER_TASK_STACK_SIZE   512

#define IME_TASK_STACK_SIZE   0x1D0

#define SONAR_TASK_STACK_SIZE   0xD0

#define LCD_TASK_STACK_SIZE   0xD0

#define TEST_TASK_STACK_SIZE   0xD0

#define SYSTEM_TASK_STACK_SIZE   0xD0

#define MONITOR_TASK_STACK_SIZE   0x1D0

#define AUDIO_TASK_STACK_SIZE   0xD0

#define SD_CONSOLE   &SD1

#define SD_LCD1   &SD2

#define SD_LCD2   &SD3

Function Documentation

void vexUserSetup

(

void

)

User setup.

The digital and motor ports can (should) be configured here.

Examples:

clawbot.c, and vexuser.c.

void vexUserInit

(

void

)

User initialize.

This function is called after all setup is complete and communication has been established with the master processor. Start other tasks and initialize user variables here

Examples:

clawbot.c, and vexuser.c.

msg_t vexAutonomous

(

void *

arg)

Autonomous.

This thread is started when the autonomous period is started

Examples:

clawbot.c, and vexuser.c.

msg_t vexOperator

(

void *

arg)

Driver control.

This thread is started when the driver control period is started

Examples:

clawbot.c, and vexuser.c.

void vexCortexInit

(

void

)

Initialize the VEX cortex.

void vexConsoleInit

(

void

)

Initialize the console serial port.

void vexTaskRegister

(

char *

name)

Register a thread so it can be terminated during vexSleep.

Parameters

[in]

name

string describing the thread

Examples:

clawbot.c, and vexuser.c.

void vexTaskRegisterPersistant	(	char *	name,
		bool_t	p
	)

Register a thread so it can be terminated during vexSleep.

Parameters

[in]	name	string describing the thread
[in]	p	persistent flag

bool_t vexTaskIsRegistered

(

Thread *

tp)

Check if this thread was already registered.

Parameters

[in]

tp

pointer to the Thread structure

Returns

bool with registration status

bool_t vexTaskPersistentGet

(

Thread *

tp)

Check if this thread has persistent flag set.

Parameters

[in]

tp

pointer to the Thread structure

Returns

bool with persistent status

void vexTaskPersistentSet	(	Thread *	tp,
		bool_t	p
	)

Set persistent flag.

Parameters

[in]	tp	pointer to the Thread structure
[in]	p	persistent flag

void vexTaskEmergencyStop

(

void

)

Stop all tasks.

Call this to stop all tasks that were registered with vexTaskRegister or vexTaskRegisterPersistant. Use as emergency stop, cortex will need rebooting

void vexSleep

(

int32_t

msec)

Sleep for given number of ms.

Parameters

[in]

msec

number of ms to sleep

Used as a replacement for chThdSleepMilliseconds so calling thread can be terminated

Examples:

clawbot.c, vexdefault.c, and vexuser.c.

void vexWatchdogInit

(

void

)

Init watchdog timer.

void vexWatchdogReload ( void  )

inline

Reload the IWDG - call several times per second.

int16_t vexWatchdogResetFlagGet

(

void

)

Check to see if the IWDG was the cause of reset.

void vexTest

(

void

)

Used for testing new ideas.

void vexTestDebug	(	vexStream *	chp,
		int	argc,
		char *	argv[]
	)

Dump test data for debug.

Parameters

[in]	chp	A pointer to a vexStream object
[in]	argc	The number of command line arguments
[in]	argv	An array of pointers to the command line args

void vexServiceEncoder	(	short	source,
		short	pa,
		short	pb,
		long *	encoder
	)