--- /dev/null
+/*
+ * 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 1.8 2009-05-02 10:08:09 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(PORTB, 4)
+#define LED1_OFF() cbi(PORTB, 4)
+#define LED1_TOGGLE() LED_TOGGLE(PORTB, 4)
+
+#define LED2_ON() sbi(PORTG, 3)
+#define LED2_OFF() cbi(PORTG, 3)
+#define LED2_TOGGLE() LED_TOGGLE(PORTG, 3)
+
+#define LED3_ON() sbi(PORTG, 4)
+#define LED3_OFF() cbi(PORTG, 4)
+#define LED3_TOGGLE() LED_TOGGLE(PORTG, 4)
+
+#define BRAKE_DDR() do { DDRF |= 0x01; } while(0)
+#define BRAKE_ON() do { PORTF |= 0x01; } while(0)
+#define BRAKE_OFF() do { PORTF &= 0xFE; } while(0)
+
+/* 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 *)1)
+#define RIGHT_ENCODER ((void *)0)
+
+#define LEFT_PWM ((void *)&gen.pwm3_3A)
+#define RIGHT_PWM ((void *)&gen.pwm4_3B)
+
+#define FESSOR_PWM ((void *)&gen.pwm2_1B)
+#define FESSOR_ENC ((void *)2)
+
+#define WHEEL_PWM ((void *)&gen.pwm1_1A)
+#define WHEEL_ENC ((void *)3)
+
+#define ELEVATOR_PWM ((void *)&gen.pwm3_3A)
+#define ELEVATOR_ENC ((void *)0)
+
+/** 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 FESSOR_PRIO 130
+#define ELEVATOR_PRIO 130
+#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];
+
+ /* motors */
+ struct pwm_ng pwm1_1A;
+ struct pwm_ng pwm2_1B;
+ struct pwm_ng pwm3_3A;
+ struct pwm_ng pwm4_3B;
+
+ /* 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;
+ struct cs_block fessor;
+ struct cs_block wheel;
+ struct cs_block elevator;
+
+ /* 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 */
+
+};
+
+/* state of mechboard, synchronized through i2c */
+struct mechboard {
+ uint8_t mode;
+ uint8_t status;
+ int8_t lintel_count;
+ uint8_t column_flags;
+
+ /* pwm */
+ int16_t pump_left1;
+ int16_t pump_right1;
+ int16_t pump_left2;
+ int16_t pump_right2;
+
+ /* currents (for left arm, we can just read it on adc) */
+ int16_t pump_right1_current;
+ int16_t pump_right2_current;
+
+ /* pwm for lintel servos */
+ uint16_t servo_lintel_left;
+ uint16_t servo_lintel_right;
+};
+
+/* state of sensorboard, synchronized through i2c */
+struct sensorboard {
+ uint8_t status;
+ /* opponent pos */
+ int16_t opponent_x;
+ int16_t opponent_y;
+ int16_t opponent_a;
+ int16_t opponent_d;
+
+ /* scanner */
+#define I2C_SCAN_DONE 1
+ uint8_t scan_status;
+#define I2C_COLUMN_NO_DROPZONE -1
+ int8_t dropzone_h;
+ int16_t dropzone_x;
+ int16_t dropzone_y;
+};
+
+extern struct genboard gen;
+extern struct mainboard mainboard;
+extern struct mechboard mechboard;
+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; \
+ } \
+ } \
+ if (__ret) \
+ DEBUG(E_USER_STRAT, "cond is true at line %d",\
+ __LINE__); \
+ else \
+ DEBUG(E_USER_STRAT, "timeout at line %d", \
+ __LINE__); \
+ \
+ __ret; \
+})
git.droids-corp.org / aversive.git / blobdiff