X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fmain.h;h=0758279aadf01cd64c38de69a2cddd7da93dea30;hp=36915bd7ea6131ee373ca0bfb0a596951e8303a1;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;ds=sidebyside

diff --git a/projects/microb2010/ballboard/main.h b/projects/microb2010/ballboard/main.h
index 36915bd..0758279 100755
--- a/projects/microb2010/ballboard/main.h
+++ b/projects/microb2010/ballboard/main.h
@@ -19,6 +19,8 @@
  *
  */
 
+/* was sensorboard in 2009 */
+
 #define LED_TOGGLE(port, bit) do {		\
 		if (port & _BV(bit))		\
 			port &= ~_BV(bit);	\
@@ -30,13 +32,13 @@
 #define LED1_OFF() 	cbi(PORTJ, 2)
 #define LED1_TOGGLE() 	LED_TOGGLE(PORTJ, 2)
 
-#define LED2_ON() 	sbi(PORTL, 7)
-#define LED2_OFF() 	cbi(PORTL, 7)
-#define LED2_TOGGLE() 	LED_TOGGLE(PORTL, 7)
+#define LED2_ON() 	sbi(PORTJ, 3)
+#define LED2_OFF() 	cbi(PORTJ, 3)
+#define LED2_TOGGLE() 	LED_TOGGLE(PORTJ, 3)
 
-#define LED3_ON() 	sbi(PORTJ, 3)
-#define LED3_OFF() 	cbi(PORTJ, 3)
-#define LED3_TOGGLE() 	LED_TOGGLE(PORTJ, 3)
+#define LED3_ON() 	sbi(PORTL, 7)
+#define LED3_OFF() 	cbi(PORTL, 7)
+#define LED3_TOGGLE() 	LED_TOGGLE(PORTL, 7)
 
 #define LED4_ON() 	sbi(PORTL, 6)
 #define LED4_OFF() 	cbi(PORTL, 6)
@@ -60,9 +62,7 @@
 /** ERROR NUMS */
 #define E_USER_I2C_PROTO       195
 #define E_USER_SENSOR          196
-#define E_USER_BEACON          197
-#define E_USER_SCANNER         198
-#define E_USER_IMGPROCESS      199
+#define E_USER_ST_MACH         197
 
 #define LED_PRIO           170
 #define TIME_PRIO          160
@@ -91,7 +91,7 @@ struct genboard {
 	struct pwm_ng servo2;
 	struct pwm_ng servo3;
 	struct pwm_ng servo4;
-	
+
 	/* ax12 interface */
 	AX12 ax12;
 
@@ -115,6 +115,7 @@ struct ballboard {
 #define DO_CS        2
 #define DO_BD        4
 #define DO_POWER     8
+#define DO_ERRBLOCKING 16
 	uint8_t flags;                /* misc flags */
 
 	/* control systems */