Belt Conveyer System

Module controlling the Belt Conveyer System and the dispatcher. More...

Data Structures
struct	message_t
	BCS can message structure. More...

Macros
#define	STACKSIZE_TASK   256
	Stack size of all bcs tasks. More...
#define	PRIORITY_TASK   2
	Priority of all bcs tasks. More...
#define	MAX_BLOCK_COUNT   3
	Number of blocks to work with. Must be between 2 and 4. More...
#define	SWITCH   ((volatile unsigned char*)(0x6C000400))

Functions
struct	__attribute__ ((__packed__))
	Status message received by belt conveyer system. More...
void	bcs_prepare_drop (enum belt_select belt)
	Prepares a block drop operation to a specific belt global. More...
void	bcs_signal_dropped (enum belt_select belt)
	Signal that a block has been dropped on a belt global. More...
void	bcs_signal_band_free (enum belt_select belt)
	Signal that a block has been removed from a belt and the belt is free again global. More...
int8_t	bcs_grab (enum belt_select belt)
	Instructs the system that we want to grab a block from the bcs global. More...
void	bcs_init ()
	Initializes the belt conveyer system and starts the belt tasks global. More...

Variables
	status_t

Detailed Description

Module controlling the Belt Conveyer System and the dispatcher.

Macro Definition Documentation

MAX_BLOCK_COUNT

#define MAX_BLOCK_COUNT   3

Number of blocks to work with. Must be between 2 and 4.

Definition at line 43 of file bcs.c.

PRIORITY_TASK

#define PRIORITY_TASK   2

Priority of all bcs tasks.

Definition at line 41 of file bcs.c.

STACKSIZE_TASK

#define STACKSIZE_TASK   256

Stack size of all bcs tasks.

Definition at line 40 of file bcs.c.

SWITCH

#define SWITCH   ((volatile unsigned char*)(0x6C000400))

Definition at line 47 of file bcs.c.

Function Documentation

__attribute__()

struct __attribute__

(

(__packed__)

)

Status message received by belt conveyer system.

< error or not

< engines running or not

< light barrier status

< detection status

< block position (along moving axis)

< block location

Definition at line 62 of file bcs.c.

bcs_grab()

int8_t bcs_grab

(

enum belt_select

belt

)

Instructs the system that we want to grab a block from the bcs global.

Parameters

[in]

belt

The belt we want to grab a block from

Returns

Position of the block (relative to the center of the band)

Definition at line 276 of file bcs.c.

bcs_init()

void bcs_init

(

)

Initializes the belt conveyer system and starts the belt tasks global.

Returns

None

Definition at line 398 of file bcs.c.

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bcs_prepare_drop()

void bcs_prepare_drop

(

enum belt_select

belt

)

Prepares a block drop operation to a specific belt global.

Parameters

[in]

belt

The belt a block will be dropped to

Returns

None

Definition at line 178 of file bcs.c.

bcs_signal_band_free()

void bcs_signal_band_free

(

enum belt_select

belt

)

Signal that a block has been removed from a belt and the belt is free again global.

Parameters

[in]

belt

The belt that is now free

Returns

None

Definition at line 223 of file bcs.c.

bcs_signal_dropped()

void bcs_signal_dropped

(

enum belt_select

belt

)

Signal that a block has been dropped on a belt global.

Parameters

[in]

belt

The belt the block has been dropped onto

Returns

None

Definition at line 201 of file bcs.c.

Variable Documentation

status_t

status_t

Definition at line 71 of file bcs.c.