X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=main.h;fp=main.h;h=ed8f435b2726a98616b9eb67dfccf1aca448dae9;hp=0000000000000000000000000000000000000000;hb=84796cd7a01e949167a155ec21f55fd71e788015;hpb=883f5aae494ab066938b0cebb554a1ee13766713

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+/*
+ * Copyright (c) 2011, Olivier MATZ <zer0@droids-corp.org>
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the University of California, Berkeley nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _MAIN_H_
+#define _MAIN_H_
+
+#include <aversive.h>
+#include <aversive/queue.h>
+#include <aversive/pgmspace.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+#include <parse.h>
+#include <rdline.h>
+#include <timer.h>
+#include <xbee.h>
+#include <callout.h>
+
+#include "cmdline.h"
+
+#define NB_LOGS 4
+
+/** ERROR NUMS */
+#define E_USER_DEFAULT           194
+#define E_USER_XBEE              195
+#define E_USER_RC_PROTO          196
+
+#define LED1_ON()       sbi(PORTB, 3)
+#define LED1_OFF()      cbi(PORTB, 3)
+
+#define LED2_ON()       sbi(PORTB, 4)
+#define LED2_OFF()      cbi(PORTB, 4)
+
+/* highest priority */
+#define LED_PRIO           160
+#define TIME_PRIO          140
+#define LOW_PRIO            60
+/* lowest priority */
+
+#define MAX_POWER_LEVEL 5
+/* generic to all boards */
+struct imuboard {
+	/* command line interface */
+	struct rdline rdl;
+	char prompt[RDLINE_PROMPT_SIZE];
+
+	struct callout_mgr intr_cm;
+
+	/* log */
+	uint8_t logs[NB_LOGS+1];
+	uint8_t log_level;
+	uint8_t debug;
+};
+extern struct imuboard imuboard;
+
+extern volatile uint32_t global_ms;
+
+void bootloader(void);
+uint16_t get_time_ms(void);
+
+#endif /* _MAIN_H_ */