X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=00b6e8630b7e0d3abeae7d6d9cd5ebb196d9cc6b;hp=2fdd212c2551b74e165f534c51d8503518be411d;hb=f5502f60124c62801685777bb7c699bdfb7e1166;hpb=4fb57a4dab8bd564445e824696a2dab470af8628

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 2fdd212..00b6e86 100755
--- a/projects/microb2010/mainboard/main.h
+++ b/projects/microb2010/mainboard/main.h
@@ -19,6 +19,8 @@
  *
  */
 
+/* was sensorboard in 2009 */
+
 #define LED_TOGGLE(port, bit) do {		\
 		if (port & _BV(bit))		\
 			port &= ~_BV(bit);	\
@@ -26,17 +28,40 @@
 			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 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)
@@ -45,23 +70,25 @@
 #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
 
 /* decrease track to decrease angle */
-#define EXT_TRACK_MM 302.0188
+#define EXT_TRACK_MM 304.61875
 #define VIRTUAL_TRACK_MM EXT_TRACK_MM
 
-#define ROBOT_LENGTH 320
+#define ROBOT_HALF_LENGTH_FRONT 130
+#define ROBOT_HALF_LENGTH_REAR 120
 #define ROBOT_WIDTH 320
 
-/* it is a 2048 imps -> 8192 because we see 1/4 period
- * and diameter: 55mm -> perimeter 173mm 
- * 8192/173 -> 473 */
+/* it is a 1024 imps -> 4096 because we see 1/4 period
+ * and diameter: 55mm -> perimeter 134mm
+ * dist_imp_mm = 4096/134 x 10 -> 304 */
 /* increase it to go further */
-#define IMP_ENCODERS 2048
-#define WHEEL_DIAMETER_MM 55.0
+#define IMP_ENCODERS 1024
+#define WHEEL_DIAMETER_MM 42.9
 #define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
 #define IMP_COEF 10.
 #define DIST_IMP_MM (((IMP_ENCODERS*4) / WHEEL_PERIM_MM) * IMP_COEF)
@@ -94,7 +121,8 @@
 #define I2C_POLL_PRIO       20
 #define EEPROM_TIME_PRIO    10
 
-#define CS_PERIOD 5000L
+#define CS_PERIOD 5000L /* in microsecond */
+#define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
 
@@ -115,7 +143,7 @@ struct genboard {
 	struct pwm_ng servo2;
 	struct pwm_ng servo3;
 	struct pwm_ng servo4;
-	
+
 	/* ax12 interface */
 	AX12 ax12;
 
@@ -142,6 +170,7 @@ struct mainboard {
 #define DO_BD       16
 #define DO_TIMER    32
 #define DO_POWER    64
+#define DO_ERRBLOCKING 128
 	uint8_t flags;                /* misc flags */
 
 	/* control systems */
@@ -165,8 +194,10 @@ struct mainboard {
 
 /* state of cobboard, synchronized through i2c */
 struct cobboard {
-	uint8_t mode;	
+	uint8_t mode;
 	uint8_t status;
+	uint8_t lspickle;
+	uint8_t rspickle;
 	int16_t left_cobroller_speed;
 	int16_t right_cobroller_speed;
 	uint8_t cob_count;
@@ -174,13 +205,17 @@ struct cobboard {
 
 /* state of ballboard, synchronized through i2c */
 struct ballboard {
+	volatile uint8_t mode;
 	uint8_t status;
+	uint8_t ball_count;
+	uint8_t lcob;
+	uint8_t rcob;
 };
 
 extern struct genboard gen;
 extern struct mainboard mainboard;
-extern struct cobboard cobboard;
-extern struct ballboard ballboard;
+extern volatile struct cobboard cobboard;
+extern volatile struct ballboard ballboard;
 
 /* start the bootloader */
 void bootloader(void);