2 * Copyright Droids Corporation (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: main.h,v 1.6 2009-11-08 17:25:00 zer0 Exp $
22 #define LED_TOGGLE(port, bit) do { \
23 if (port & _BV(bit)) \
29 #define LED1_ON() sbi(PORTJ, 2)
30 #define LED1_OFF() cbi(PORTJ, 2)
31 #define LED1_TOGGLE() LED_TOGGLE(PORTJ, 2)
33 #define LED2_ON() sbi(PORTL, 7)
34 #define LED2_OFF() cbi(PORTL, 7)
35 #define LED2_TOGGLE() LED_TOGGLE(PORTL, 7)
37 #define LED3_ON() sbi(PORTJ, 3)
38 #define LED3_OFF() cbi(PORTJ, 3)
39 #define LED3_TOGGLE() LED_TOGGLE(PORTJ, 3)
41 #define LED4_ON() sbi(PORTL, 6)
42 #define LED4_OFF() cbi(PORTL, 6)
43 #define LED4_TOGGLE() LED_TOGGLE(PORTL, 6)
45 #define BRAKE_DDR() do { DDRJ |= 0xF0; } while(0)
46 #define BRAKE_ON() do { PORTJ |= 0xF0; } while(0)
47 #define BRAKE_OFF() do { PORTJ &= 0x0F; } while(0)
49 #define LEFT_ARM_ENCODER ((void *)0)
50 #define RIGHT_ARM_ENCODER ((void *)1)
52 #define LEFT_ARM_PWM ((void *)&gen.pwm1_4A)
53 #define RIGHT_ARM_PWM ((void *)&gen.pwm2_4B)
55 #define RIGHT_PUMP1_PWM ((void *)&gen.pwm3_1A)
56 #define RIGHT_PUMP2_PWM ((void *)&gen.pwm4_1B)
58 #define R_ELBOW_AX12 1
59 #define R_WRIST_AX12 2
60 #define L_ELBOW_AX12 4
61 #define L_WRIST_AX12 3
65 #define E_USER_I2C_PROTO 195
66 #define E_USER_SENSOR 196
67 #define E_USER_ARM 197
68 #define E_USER_FINGER 198
69 #define E_USER_ST_MACH 199
71 #define E_USER_AX12 201
78 #define I2C_POLL_PRIO 20
80 #define CS_PERIOD 5000L
84 /* generic to all boards */
86 /* command line interface */
88 char prompt[RDLINE_PROMPT_SIZE];
91 struct pwm_ng pwm1_4A;
92 struct pwm_ng pwm2_4B;
93 struct pwm_ng pwm3_1A;
94 struct pwm_ng pwm4_1B;
100 struct pwm_ng servo4;
106 uint8_t logs[NB_LOGS+1];
114 struct pid_filter pid;
115 struct quadramp_filter qr;
116 struct blocking_detection bd;
119 /* mechboard specific */
121 #define DO_ENCODERS 1
125 uint8_t flags; /* misc flags */
127 /* control systems */
128 struct cs_block left_arm;
129 struct cs_block right_arm;
133 volatile uint8_t lintel_count;
134 volatile uint8_t column_flags;
135 volatile uint8_t status;
140 /* remote pump (on mainboard) */
144 /* remote pump current */
145 int16_t pump_left1_current;
146 int16_t pump_left2_current;
148 uint16_t servo_lintel_left;
149 uint16_t servo_lintel_right;
153 extern struct genboard gen;
154 extern struct mechboard mechboard;
156 /* start the bootloader */
157 void bootloader(void);
159 #define DEG(x) (((double)(x)) * (180.0 / M_PI))
160 #define RAD(x) (((double)(x)) * (M_PI / 180.0))
161 #define M_2PI (2*M_PI)
163 #define WAIT_COND_OR_TIMEOUT(cond, timeout) \
165 microseconds __us = time_get_us2(); \
168 if (time_get_us2() - __us > (timeout)*1000L) {\