first hostsim project

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

diff --git a/projects/microb2010/tests/hostsim/main.h b/projects/microb2010/tests/hostsim/main.h
new file mode 100644 (file)
index 0000000..5f07ab4
--- /dev/null
+++ b/projects/microb2010/tests/hostsim/main.h
@@ -0,0 +1,171 @@
+/*  
+ *  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 1.10 2009-11-08 17:24:33 zer0 Exp $
+ *
+ */
+
+#define LED_TOGGLE(port, bit) do {             \
+               if (port & _BV(bit))            \
+                       port &= ~_BV(bit);      \
+               else                            \
+                       port |= _BV(bit);       \
+       } while(0)
+
+#define LED1_ON()
+#define LED1_OFF()
+#define LED1_TOGGLE()
+
+#define LED2_ON()
+#define LED2_OFF()
+#define LED2_TOGGLE() 
+
+#define LED3_ON() 
+#define LED3_OFF() 
+#define LED3_TOGGLE() 
+
+#define LED4_ON()
+#define LED4_OFF()
+#define LED4_TOGGLE()
+
+#define BRAKE_DDR()
+#define BRAKE_ON()
+#define BRAKE_OFF()
+
+/* only 90 seconds, don't forget it :) */
+#define MATCH_TIME 89
+
+/* decrease track to decrease angle */
+#define EXT_TRACK_MM 302.0188
+#define VIRTUAL_TRACK_MM EXT_TRACK_MM
+
+#define ROBOT_LENGTH 320
+#define ROBOT_WIDTH 320
+
+/* it is a 2048 imps -> 8192 because we see 1/4 period
+ * and diameter: 55mm -> perimeter 173mm 
+ * 8192/173 -> 473 */
+/* increase it to go further */
+#define IMP_ENCODERS 2048
+#define WHEEL_DIAMETER_MM 55.0
+#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 LEFT_ENCODER        ((void *)0)
+#define RIGHT_ENCODER       ((void *)1)
+
+#define LEFT_PWM            ((void *)0)
+#define RIGHT_PWM           ((void *)1)
+
+/** ERROR NUMS */
+#define E_USER_STRAT           194
+#define E_USER_I2C_PROTO       195
+#define E_USER_SENSOR          196
+#define E_USER_CS              197
+
+#define LED_PRIO           170
+#define TIME_PRIO          160
+#define ADC_PRIO           120
+#define CS_PRIO            100
+#define STRAT_PRIO          30
+#define I2C_POLL_PRIO       20
+#define EEPROM_TIME_PRIO    10
+
+#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];
+
+       /* 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;
+};
+
+/* mainboard specific */
+struct mainboard {
+#define DO_ENCODERS  1
+#define DO_CS        2
+#define DO_RS        4
+#define DO_POS       8
+#define DO_BD       16
+#define DO_TIMER    32
+#define DO_POWER    64
+       uint8_t flags;                /* misc flags */
+
+       /* control systems */
+        struct cs_block angle;
+        struct cs_block distance;
+
+       /* x,y positionning */
+       struct robot_system rs;
+       struct robot_position pos;
+        struct trajectory traj;
+
+       /* robot status */
+       uint8_t our_color;
+       volatile int16_t speed_a;     /* current angle speed */
+       volatile int16_t speed_d;     /* current dist speed */
+       int32_t pwm_l;                /* current left pwm */
+       int32_t pwm_r;                /* current right pwm */
+       uint8_t enable_pickup_wheels; /* these PWM are on sensorboard */
+
+};
+
+extern struct genboard gen;
+extern struct mainboard mainboard;
+
+#define SPEED_DIST_FAST 2500
+#define SPEED_ANGLE_FAST 2000
+#define SPEED_DIST_SLOW 1000
+#define SPEED_ANGLE_SLOW 1000
+#define SPEED_DIST_VERY_SLOW 400
+#define SPEED_ANGLE_VERY_SLOW 400
+
+#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;                                \
+                }                                             \
+        }                                                     \
+       if (__ret)                                            \
+               DEBUG(E_USER_STRAT, "cond is true at line %d",\
+                     __LINE__);                              \
+       else                                                  \
+               DEBUG(E_USER_STRAT, "timeout at line %d",     \
+                     __LINE__);                              \
+                                                             \
+        __ret;                                                \
+})