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prog_fuse.sh: reindent file
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
main.h
diff --git
a/projects/microb2010/cobboard/main.h
b/projects/microb2010/cobboard/main.h
index
0d07a9c
..
80469ea
100755
(executable)
--- a/
projects/microb2010/cobboard/main.h
+++ b/
projects/microb2010/cobboard/main.h
@@
-19,6
+19,8
@@
*
*/
*
*/
+/* was mechboard 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)
@@
-46,16
+48,16
@@
#define BRAKE_ON() do { PORTJ |= 0xF0; } while(0)
#define BRAKE_OFF() do { PORTJ &= 0x0F; } while(0)
#define BRAKE_ON() do { PORTJ |= 0xF0; } while(0)
#define BRAKE_OFF() do { PORTJ &= 0x0F; } while(0)
-#define
LEFT_SPICKLE_ENCODER
((void *)0)
-#define
RIGHT_SPICKLE_ENCODER
((void *)1)
+#define
RIGHT_SPICKLE_ENCODER
((void *)0)
+#define
LEFT_SPICKLE_ENCODER
((void *)1)
#define SHOVEL_ENCODER ((void *)2)
#define SERVO_DOOR_PWM ((void *)&gen.servo2)
#define SERVO_CARRY_L_PWM ((void *)&gen.servo1)
#define SERVO_CARRY_R_PWM ((void *)&gen.servo3)
#define SHOVEL_ENCODER ((void *)2)
#define SERVO_DOOR_PWM ((void *)&gen.servo2)
#define SERVO_CARRY_L_PWM ((void *)&gen.servo1)
#define SERVO_CARRY_R_PWM ((void *)&gen.servo3)
-#define
LEFT_SPICKLE_PWM
((void *)&gen.pwm1_4A)
-#define
RIGHT_SPICKLE_PWM
((void *)&gen.pwm2_4B)
+#define
RIGHT_SPICKLE_PWM
((void *)&gen.pwm1_4A)
+#define
LEFT_SPICKLE_PWM
((void *)&gen.pwm2_4B)
#define SHOVEL_PWM ((void *)&gen.pwm3_1A)
/** ERROR NUMS */
#define SHOVEL_PWM ((void *)&gen.pwm3_1A)
/** ERROR NUMS */
@@
-119,6
+121,7
@@
struct cobboard {
#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 */