git.droids-corp.org
/
aversive.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
trajectories on hostsim
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
main.h
diff --git
a/projects/microb2010/mainboard/main.h
b/projects/microb2010/mainboard/main.h
index
2fdd212
..
53cfe69
100755
(executable)
--- a/
projects/microb2010/mainboard/main.h
+++ b/
projects/microb2010/mainboard/main.h
@@
-26,6
+26,29
@@
port |= _BV(bit); \
} while(0)
port |= _BV(bit); \
} while(0)
+#ifdef HOST_VERSION
+#define LED1_ON()
+#define LED1_OFF()
+#define LED1_TOGGLE()
+
+#define LED2_ON()
+#define LED2_OFF()
+#define LED2_TOGGLE()
+
+#define LED3_ON()
+#define LED3_OFF()
+#define LED3_TOGGLE()
+
+#define LED4_ON()
+#define LED4_OFF()
+#define LED4_TOGGLE()
+
+#define BRAKE_DDR()
+#define BRAKE_ON()
+#define BRAKE_OFF()
+
+#else
+
#define LED1_ON() sbi(PORTJ, 2)
#define LED1_OFF() cbi(PORTJ, 2)
#define LED1_TOGGLE() LED_TOGGLE(PORTJ, 2)
#define LED1_ON() sbi(PORTJ, 2)
#define LED1_OFF() cbi(PORTJ, 2)
#define LED1_TOGGLE() LED_TOGGLE(PORTJ, 2)
@@
-45,6
+68,7
@@
#define BRAKE_DDR() do { DDRJ |= 0xF0; } while(0)
#define BRAKE_ON() do { PORTJ |= 0xF0; } while(0)
#define BRAKE_OFF() do { PORTJ &= 0x0F; } while(0)
#define BRAKE_DDR() do { DDRJ |= 0xF0; } while(0)
#define BRAKE_ON() do { PORTJ |= 0xF0; } while(0)
#define BRAKE_OFF() do { PORTJ &= 0x0F; } while(0)
+#endif
/* only 90 seconds, don't forget it :) */
#define MATCH_TIME 89
/* only 90 seconds, don't forget it :) */
#define MATCH_TIME 89
@@
-115,7
+139,7
@@
struct genboard {
struct pwm_ng servo2;
struct pwm_ng servo3;
struct pwm_ng servo4;
struct pwm_ng servo2;
struct pwm_ng servo3;
struct pwm_ng servo4;
-
+
/* ax12 interface */
AX12 ax12;
/* ax12 interface */
AX12 ax12;
@@
-165,7
+189,7
@@
struct mainboard {
/* state of cobboard, synchronized through i2c */
struct cobboard {
/* state of cobboard, synchronized through i2c */
struct cobboard {
- uint8_t mode;
+ uint8_t mode;
uint8_t status;
int16_t left_cobroller_speed;
int16_t right_cobroller_speed;
uint8_t status;
int16_t left_cobroller_speed;
int16_t right_cobroller_speed;
@@
-174,7
+198,9
@@
struct cobboard {
/* state of ballboard, synchronized through i2c */
struct ballboard {
/* state of ballboard, synchronized through i2c */
struct ballboard {
+ uint8_t mode;
uint8_t status;
uint8_t status;
+ uint8_t ball_count;
};
extern struct genboard gen;
};
extern struct genboard gen;