X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.h;h=2fe71997a0264a5085d31fe40351235db195ea73;hp=48655eb0024f9263e9caa0741c9ac10cb270682c;hb=HEAD;hpb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d

diff --git a/projects/microb2010/mainboard/main.h b/projects/microb2010/mainboard/main.h
index 48655eb..2fe7199 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);	\
@@ -53,13 +55,13 @@
 #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)
@@ -81,11 +83,17 @@
 #define ROBOT_HALF_LENGTH_REAR 120
 #define ROBOT_WIDTH 320
 
+#ifdef HOST_VERSION
+#define ROBOT_ANGLE_FRONT 0.
+#else
+#define ROBOT_ANGLE_FRONT 0.75 // 0.27
+#endif
+
 /* 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 1024
+#define IMP_ENCODERS 1000
 #define WHEEL_DIAMETER_MM 42.9
 #define WHEEL_PERIM_MM (WHEEL_DIAMETER_MM * M_PI)
 #define IMP_COEF 10.
@@ -117,9 +125,10 @@
 #define CS_PRIO            100
 #define STRAT_PRIO          30
 #define I2C_POLL_PRIO       20
+#define BEACON_PRIO         15
 #define EEPROM_TIME_PRIO    10
 
-#define CS_PERIOD 5000L /* in microsecond */ 
+#define CS_PERIOD ((5000L/SCHEDULER_UNIT)*SCHEDULER_UNIT) /* in microsecond */
 #define CS_HZ (1000000. / CS_PERIOD)
 
 #define NB_LOGS 4
@@ -168,6 +177,7 @@ 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 */
@@ -193,6 +203,8 @@ struct mainboard {
 struct cobboard {
 	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;
@@ -200,15 +212,21 @@ struct cobboard {
 
 /* state of ballboard, synchronized through i2c */
 struct ballboard {
-	uint8_t mode;
+	volatile uint8_t mode;
 	uint8_t status;
 	uint8_t ball_count;
+	uint8_t lcob;
+	uint8_t rcob;
+	int16_t opponent_x;
+	int16_t opponent_y;
+	int16_t opponent_a;
+	int16_t opponent_d;
 };
 
 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);