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avant la coupe de belgique
[aversive.git]
/
projects
/
microb2010
/
mainboard
/
main.h
diff --git
a/projects/microb2010/mainboard/main.h
b/projects/microb2010/mainboard/main.h
index
53cfe69
..
367718f
100755
(executable)
--- a/
projects/microb2010/mainboard/main.h
+++ b/
projects/microb2010/mainboard/main.h
@@
-53,13
+53,13
@@
#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)
@@
-74,18
+74,19
@@
#define MATCH_TIME 89
/* decrease track to decrease angle */
#define MATCH_TIME 89
/* decrease track to decrease angle */
-#define EXT_TRACK_MM 30
2.0188
+#define EXT_TRACK_MM 30
4.61875
#define VIRTUAL_TRACK_MM EXT_TRACK_MM
#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
#define ROBOT_WIDTH 320
-/* it is a
2048 imps -> 8192
because we see 1/4 period
- * and diameter: 55mm -> perimeter 1
73mm
- *
8192/173 -> 473
*/
+/* it is a
1024 imps -> 4096
because we see 1/4 period
+ * and diameter: 55mm -> perimeter 1
34mm
+ *
dist_imp_mm = 4096/134 x 10 -> 304
*/
/* increase it to go further */
/* 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)
#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)
@@
-118,7
+119,8
@@
#define I2C_POLL_PRIO 20
#define EEPROM_TIME_PRIO 10
#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
#define NB_LOGS 4
@@
-166,6
+168,7
@@
struct mainboard {
#define DO_BD 16
#define DO_TIMER 32
#define DO_POWER 64
#define DO_BD 16
#define DO_TIMER 32
#define DO_POWER 64
+#define DO_ERRBLOCKING 128
uint8_t flags; /* misc flags */
/* control systems */
uint8_t flags; /* misc flags */
/* control systems */
@@
-198,15
+201,15
@@
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;
};
extern struct genboard gen;
extern struct mainboard mainboard;
uint8_t status;
uint8_t ball_count;
};
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);