-/*
- * Copyright Droids Corporation (2009)
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- * Revision : $Id: main.h,v 1.4 2009-05-27 20:04:07 zer0 Exp $
- *
- */
-
-#define LED_TOGGLE(port, bit) do { \
- if (port & _BV(bit)) \
- port &= ~_BV(bit); \
- else \
- port |= _BV(bit); \
- } while(0)
-
-#define LED1_ON() sbi(PORTJ, 2)
-#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 LED3_ON() sbi(PORTJ, 3)
-#define LED3_OFF() cbi(PORTJ, 3)
-#define LED3_TOGGLE() LED_TOGGLE(PORTJ, 3)
-
-#define LED4_ON() sbi(PORTL, 6)
-#define LED4_OFF() cbi(PORTL, 6)
-#define LED4_TOGGLE() LED_TOGGLE(PORTL, 6)
-
-#define BRAKE_DDR() do { DDRJ |= 0xF0; } while(0)
-#define BRAKE_ON() do { PORTJ |= 0xF0; } while(0)
-#define BRAKE_OFF() do { PORTJ &= 0x0F; } while(0)
-
-#define BEACON_ENCODER ((void *)0)
-#define SCANNER_ENCODER ((void *)1)
-
-#define BEACON_PWM ((void *)&gen.pwm1_4A)
-#define SCANNER_PWM ((void *)&gen.pwm2_4B)
-#define PICKUP_WHEEL_L_PWM ((void *)&gen.pwm3_1A)
-#define PICKUP_WHEEL_R_PWM ((void *)&gen.pwm4_1B)
-
-#define BEACON_POS_SENSOR 2
-#define SCANNER_POS_SENSOR 7
-#define SCANNER_MAXCOLUMN_SENSOR 1
-
-
-
-#define SCANNER_POS_OUT 179
-#define SCANNER_POS_CALIBRE 370
-#define SCANNER_POS_IN 400
-
-
-/** 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 LED_PRIO 170
-#define TIME_PRIO 160
-#define ADC_PRIO 120
-#define CS_PRIO 100
-#define BEACON_PRIO 80
-#define I2C_POLL_PRIO 20
-
-#define CS_PERIOD 5000L
-
-#define NB_LOGS 4
-
-/* generic to all boards */
-struct genboard {
- /* command line interface */
- struct rdline rdl;
- char prompt[RDLINE_PROMPT_SIZE];
-
- /* motors */
- struct pwm_ng pwm1_4A;
- struct pwm_ng pwm2_4B;
- struct pwm_ng pwm3_1A;
- struct pwm_ng pwm4_1B;
-
- /* servos */
- struct pwm_ng servo1;
- struct pwm_ng servo2;
- struct pwm_ng servo3;
- struct pwm_ng servo4;
-
- /* ax12 interface */
- AX12 ax12;
-
- /* log */
- uint8_t logs[NB_LOGS+1];
- uint8_t log_level;
- uint8_t debug;
-};
-
-struct cs_block {
- uint8_t on;
- struct cs cs;
- struct pid_filter pid;
- struct quadramp_filter qr;
- struct blocking_detection bd;
-};
-
-/* sensorboard specific */
-struct sensorboard {
-#define DO_ENCODERS 1
-#define DO_CS 2
-#define DO_BD 4
-#define DO_POWER 8
- uint8_t flags; /* misc flags */
-
- /* control systems */
- struct cs_block beacon;
- struct cs_block scanner;
-
- /* robot status */
- uint8_t our_color;
-};
-
-extern struct genboard gen;
-extern struct sensorboard sensorboard;
-
-/* start the bootloader */
-void bootloader(void);
-
-#define wait_cond_or_timeout(cond, timeout) \
-({ \
- microseconds __us = time_get_us2(); \
- uint8_t __ret = 1; \
- while(! (cond)) { \
- if (time_get_us2() - __us > (timeout)*1000L) {\
- __ret = 0; \
- break; \
- } \
- } \
- __ret; \
-})
git.droids-corp.org / aversive.git / blobdiff