microb 2010

[aversive.git] / projects / microb2010 / sensorboard / main.h

diff --git a/projects/microb2010/sensorboard/main.h b/projects/microb2010/sensorboard/main.h
new file mode 100755 (executable)
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+++ b/projects/microb2010/sensorboard/main.h
@@ -0,0 +1,154 @@
+/*  
+ *  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;                                                \
+})