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remove unexistant balls
[aversive.git]
/
projects
/
microb2010
/
ballboard
/
main.h
diff --git
a/projects/microb2010/ballboard/main.h
b/projects/microb2010/ballboard/main.h
index
36915bd
..
68ecf97
100755
(executable)
--- a/
projects/microb2010/ballboard/main.h
+++ b/
projects/microb2010/ballboard/main.h
@@
-19,6
+19,8
@@
*
*/
*
*/
+/* was mainboard in 2009 */
+
#define LED_TOGGLE(port, bit) do { \
if (port & _BV(bit)) \
port &= ~_BV(bit); \
#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 LED1_OFF() cbi(PORTJ, 2)
#define LED1_TOGGLE() LED_TOGGLE(PORTJ, 2)
-#define LED2_ON() sbi(PORT
L, 7
)
-#define LED2_OFF() cbi(PORT
L, 7
)
-#define LED2_TOGGLE() LED_TOGGLE(PORT
L, 7
)
+#define LED2_ON() sbi(PORT
J, 3
)
+#define LED2_OFF() cbi(PORT
J, 3
)
+#define LED2_TOGGLE() LED_TOGGLE(PORT
J, 3
)
-#define LED3_ON() sbi(PORT
J, 3
)
-#define LED3_OFF() cbi(PORT
J, 3
)
-#define LED3_TOGGLE() LED_TOGGLE(PORT
J, 3
)
+#define LED3_ON() sbi(PORT
L, 7
)
+#define LED3_OFF() cbi(PORT
L, 7
)
+#define LED3_TOGGLE() LED_TOGGLE(PORT
L, 7
)
#define LED4_ON() sbi(PORTL, 6)
#define LED4_OFF() cbi(PORTL, 6)
#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
/** 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
#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;
struct pwm_ng servo2;
struct pwm_ng servo3;
struct pwm_ng servo4;
-
+
/* ax12 interface */
AX12 ax12;
/* ax12 interface */
AX12 ax12;
@@
-115,6
+115,7
@@
struct ballboard {
#define DO_CS 2
#define DO_BD 4
#define DO_POWER 8
#define DO_CS 2
#define DO_BD 4
#define DO_POWER 8
+#define DO_ERRBLOCKING 16
uint8_t flags; /* misc flags */
/* control systems */
uint8_t flags; /* misc flags */
/* control systems */
@@
-132,7
+133,7
@@
extern struct ballboard ballboard;
/* start the bootloader */
void bootloader(void);
/* start the bootloader */
void bootloader(void);
-#define
wait_cond_or_timeout
(cond, timeout) \
+#define
WAIT_COND_OR_TIMEOUT
(cond, timeout) \
({ \
microseconds __us = time_get_us2(); \
uint8_t __ret = 1; \
({ \
microseconds __us = time_get_us2(); \
uint8_t __ret = 1; \