work on beacon

[aversive.git] / projects / microb2010 / tests / beacon_tsop / main.h

diff --git a/projects/microb2010/tests/beacon_tsop/main.h b/projects/microb2010/tests/beacon_tsop/main.h
new file mode 100644 (file)
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+++ b/projects/microb2010/tests/beacon_tsop/main.h
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+/*  
+ *  Copyright Droids Corporation (2009)
+ *  Olivier Matz <zer0@droids-corp.org>
+ * 
+ *  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.c,v 1.8 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#define BOARD2006
+
+/********************** LEDs */
+#define LED_TOGGLE(port, bit) do {             \
+               if (port & _BV(bit))            \
+                       port &= ~_BV(bit);      \
+               else                            \
+                       port |= _BV(bit);       \
+       } while(0)
+
+#ifdef BOARD2006
+#define LED1_PORT PORTE
+#define LED1_DDR  DDRE
+#define LED1_BIT  2
+#define LED2_PORT PORTE
+#define LED2_DDR  DDRE
+#define LED2_BIT  3
+#define LED3_PORT PORTB
+#define LED3_DDR  DDRB
+#define LED3_BIT  3
+#define LED1_ON()  sbi(LED1_PORT, LED1_BIT)
+#define LED1_OFF() cbi(LED1_PORT, LED1_BIT)
+#define LED1_TOGGLE() LED1_TOGGLE(LED_PORT, LED1_BIT)
+#define LED2_ON()  sbi(LED2_PORT, LED2_BIT)
+#define LED2_OFF() cbi(LED2_PORT, LED2_BIT)
+#define LED2_TOGGLE() LED_TOGGLE(LED2_PORT, LED2_BIT)
+#define LED3_ON()  sbi(LED3_PORT, LED3_BIT)
+#define LED3_OFF() cbi(LED3_PORT, LED3_BIT)
+#define LED3_TOGGLE() LED_TOGGLE(LED3_PORT, LED3_BIT)
+#else
+#define LED_PORT PORTD
+#define LED_DDR  DDRD
+#define LED1_BIT  5
+#define LED2_BIT  6
+#define LED3_BIT  7
+#define LED1_ON()  sbi(LED_PORT, LED1_BIT)
+#define LED1_OFF() cbi(LED_PORT, LED1_BIT)
+#define LED1_TOGGLE() LED_TOGGLE(LED_PORT, LED1_BIT)
+#define LED2_ON()  sbi(LED_PORT, LED2_BIT)
+#define LED2_OFF() cbi(LED_PORT, LED2_BIT)
+#define LED2_TOGGLE() LED_TOGGLE(LED_PORT, LED2_BIT)
+#define LED3_ON()  sbi(LED_PORT, LED3_BIT)
+#define LED3_OFF() cbi(LED_PORT, LED3_BIT)
+#define LED3_TOGGLE() LED_TOGGLE(LED_PORT, LED3_BIT)
+#endif
+
+struct beacon_tsop {
+       struct rdline rdl;
+       char prompt[RDLINE_PROMPT_SIZE];
+       struct pwm_ng pwm_motor;
+       struct pid_filter pid;
+       uint8_t debug_frame;
+       uint8_t debug_speed;
+};
+
+extern struct beacon_tsop beacon_tsop;