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[aversive.git]
/
projects
/
microb2010
/
mainboard
/
main.h
diff --git
a/projects/microb2010/mainboard/main.h
b/projects/microb2010/mainboard/main.h
index
6e3f8ad
..
0798699
100755
(executable)
--- 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); \
#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 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)
@@
-74,11
+76,11
@@
#define MATCH_TIME 89
/* decrease track to decrease angle */
#define MATCH_TIME 89
/* decrease track to decrease angle */
-#define EXT_TRACK_MM 304.
61875
+#define EXT_TRACK_MM 304.
9
#define VIRTUAL_TRACK_MM EXT_TRACK_MM
#define VIRTUAL_TRACK_MM EXT_TRACK_MM
-#define ROBOT_HALF_LENGTH_FRONT 1
3
0
-#define ROBOT_HALF_LENGTH_REAR
12
0
+#define ROBOT_HALF_LENGTH_FRONT 1
8
0
+#define ROBOT_HALF_LENGTH_REAR
7
0
#define ROBOT_WIDTH 320
/* it is a 1024 imps -> 4096 because we see 1/4 period
#define ROBOT_WIDTH 320
/* it is a 1024 imps -> 4096 because we see 1/4 period
@@
-119,7
+121,7
@@
#define I2C_POLL_PRIO 20
#define EEPROM_TIME_PRIO 10
#define I2C_POLL_PRIO 20
#define EEPROM_TIME_PRIO 10
-#define CS_PERIOD 5000L /* in microsecond */
+#define CS_PERIOD 5000L /* in microsecond */
#define CS_HZ (1000000. / CS_PERIOD)
#define NB_LOGS 4
#define CS_HZ (1000000. / CS_PERIOD)
#define NB_LOGS 4
@@
-194,6
+196,8
@@
struct mainboard {
struct cobboard {
uint8_t mode;
uint8_t status;
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;
int16_t left_cobroller_speed;
int16_t right_cobroller_speed;
uint8_t cob_count;
@@
-201,15
+205,17
@@
struct cobboard {
/* state of ballboard, synchronized through i2c */
struct ballboard {
/* state of ballboard, synchronized through i2c */
struct ballboard {
- uint8_t mode;
+
volatile
uint8_t mode;
uint8_t status;
uint8_t ball_count;
uint8_t status;
uint8_t ball_count;
+ uint8_t lcob;
+ uint8_t rcob;
};
extern struct genboard gen;
extern struct mainboard mainboard;
};
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);
/* start the bootloader */
void bootloader(void);