X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fmain.h;fp=projects%2Fmicrob2010%2Fcobboard%2Fmain.h;h=33fb8338ba688b3f53a82dd013ad1405be5e66f3;hp=0000000000000000000000000000000000000000;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/cobboard/main.h b/projects/microb2010/cobboard/main.h
new file mode 100755
index 0000000..33fb833
--- /dev/null
+++ b/projects/microb2010/cobboard/main.h
@@ -0,0 +1,150 @@
+/*  
+ *  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 1.6 2009-11-08 17:25:00 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 LEFT_SPICKLE_ENCODER   ((void *)0)
+#define RIGHT_SPICKLE_ENCODER  ((void *)1)
+#define SHOVEL_ENCODER         ((void *)1)
+
+#define LEFT_SPICKLE_PWM       ((void *)&gen.pwm1_4A)
+#define RIGHT_SPICKLE_PWM      ((void *)&gen.pwm2_4B)
+#define SHOVEL_PWM             ((void *)&gen.pwm2_4B)
+
+/** ERROR NUMS */
+#define E_USER_I2C_PROTO       195
+#define E_USER_SENSOR          196
+#define E_USER_SPICKLE         197
+#define E_USER_ST_MACH         199
+#define E_USER_CS              200
+#define E_USER_AX12            201
+
+#define LED_PRIO           170
+#define TIME_PRIO          160
+#define ADC_PRIO           120
+#define CS_PRIO            100
+#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;
+};
+
+/* cobboard specific */
+struct cobboard {
+#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 left_spickle;
+        struct cs_block right_spickle;
+        struct cs_block shovel;
+
+	/* robot status */
+	uint8_t our_color;
+	volatile uint8_t cob_count;
+	volatile uint8_t status;
+};
+
+extern struct genboard gen;
+extern struct cobboard cobboard;
+
+/* start the bootloader */
+void bootloader(void);
+
+#define DEG(x) (((double)(x)) * (180.0 / M_PI))
+#define RAD(x) (((double)(x)) * (M_PI / 180.0))
+#define M_2PI (2*M_PI)
+
+#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;                                                \
+})