include/asuro_defs.h

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/** @file
 * 
 * General definitions for ASURO (eg pin assignments).
 * 
 * @author Denis Martin
 * 
 * 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.
 */

#ifndef ASURO_DEF_H_
#define ASURO_DEF_H_

#define TRUE        1   ///< boolean TRUE
#define FALSE       0   ///< boolean FALSE

#define AS_ON       1   ///< general ON
#define AS_OFF      0   ///< general OFF

#define AS_GREEN    1   ///< status LED color green
#define AS_RED      2   ///< status LED color red
#define AS_YELLOW   3   ///< status LED color yellow

#define AS_LEFT     0   ///< left motor
#define AS_RIGHT    1   ///< right motor

/** @name LED ports */
//@{
#define AS_PB_LED_GREEN (1 << PB0)  ///< PB0: port for green status LED
#define AS_PD_LED_RED   (1 << PD2)  ///< PD2: port for red status LED
#define AS_PD_LED_FRONT (1 << PD6)  ///< PD6: port for front LED
#define AS_PC_LED_LBACK (1 << PC1)  ///< PC1: port for left back LED
#define AS_PC_LED_RBACK (1 << PC0)  ///< PC0: port for right back LED
#define AS_PB_LED_IRTX  (1 << PB3)  ///< PB3: port for IR transmitter LED
#define AS_PD_LED_ODO   (1 << PD7)  ///< PD7: port for wheel IR-LEDs (for odometry)
//@}

/** @name Motor ports */
//@{
#define AS_DIR_FWD      (1 << PB5)                  ///< PB5/PD5: port for motor direction: rewind
#define AS_DIR_RWD      (1 << PB4)                  ///< PB4/PD4: port for motor direction: rewind
#define AS_DIR_FREE     (AS_DIR_FWD | AS_DIR_RWD)   ///< no change to motor direction
#define AS_DIR_BREAK    0                           ///< stop motors
#define AS_PB_MTR_PWM   ((1 << PB1) | (1 << PB2))   ///< PB1, PB2: ports for pulse width modulation
//@}

/** @name LED control */
//@{
#define AS_LED_GREEN_ON     PORTB |=  AS_PB_LED_GREEN
#define AS_LED_GREEN_OFF    PORTB &= ~AS_PB_LED_GREEN
#define AS_LED_RED_ON       PORTD |=  AS_PD_LED_RED
#define AS_LED_RED_OFF      PORTD &= ~AS_PD_LED_RED
#define AS_LED_YELLOW_ON    {AS_LED_GREEN_ON; AS_LED_RED_ON;}
#define AS_LED_YELLOW_OFF   {AS_LED_GREEN_OFF; AS_LED_RED_OFF;}
#define AS_LED_FRONT_ON     PORTD |=  AS_PD_LED_FRONT
#define AS_LED_FRONT_OFF    PORTD &= ~AS_PD_LED_FRONT
#define AS_LED_RBACK_ON     PORTC |=  AS_PC_LED_RBACK   ///< you have to be in AS_BACK_LED_MODE
#define AS_LED_RBACK_OFF    PORTC &= ~AS_PC_LED_RBACK   ///< you have to be in AS_BACK_LED_MODE
#define AS_LED_LBACK_ON     PORTC |=  AS_PC_LED_LBACK   ///< you have to be in AS_BACK_LED_MODE
#define AS_LED_LBACK_OFF    PORTC &= ~AS_PC_LED_LBACK   ///< you have to be in AS_BACK_LED_MODE
#define AS_LED_ODO_ON       PORTD |=  AS_PD_LED_ODO     ///< you have to be in AS_ODOMETRY_MODE
#define AS_LED_ODO_OFF      PORTD &= ~AS_PD_LED_ODO     ///< you have to be in AS_ODOMETRY_MODE
//@}

/** @name Motors control */
//@{
#define AS_DIR_LEFT(dir)    PORTD = (PORTD & ~AS_DIR_FREE) | dir    ///< set direction of left motor
#define AS_DIR_RIGHT(dir)   PORTB = (PORTB & ~AS_DIR_FREE) | dir    ///< set direction of right motor
//@}

/** @name IO direction */
//@{
#define AS_BACK_LED_MODE    DDRC |= (AS_PC_LED_LBACK | AS_PC_LED_RBACK)     // output, no odometry
#define AS_ODOMETRY_MODE    DDRC &= ~(AS_PC_LED_LBACK | AS_PC_LED_RBACK)    // input, no back LEDs
//@}

/** @name Sensors */
//@{
#define AS_PD_SWITCHES  (1 << PD3)  ///< PD3: port for switches
//@}

/** @name Sensor control */
//@{
#define AS_SENS_SWITCHES_MODE   DDRD |= AS_PD_SWITCHES      ///< output, switches
#define AS_SENS_SWITCHES_ON     PORTD |= AS_PD_SWITCHES     ///< switch sensor on
#define AS_SENS_SWITCHES_OFF    PORTD &= ~AS_PD_SWITCHES    ///< switch sensor off
#define AS_SENS_SWITCH_1    (1 << 5)
#define AS_SENS_SWITCH_2    (1 << 4)
#define AS_SENS_SWITCH_3    (1 << 3)
#define AS_SENS_SWITCH_4    (1 << 2)
#define AS_SENS_SWITCH_5    (1 << 1)
#define AS_SENS_SWITCH_6    1
//@}

/** @name ADC ports for analogue sensors */
//@{
#define AS_MUX_SWITCHES     (1 << MUX2)                 ///< ADC port for switches
#define AS_MUX_LINE_LEFT    ((1 << MUX0) | (1 << MUX1)) ///< ADC port for left line photo transistor
#define AS_MUX_LINE_RIGHT   (1 << MUX1)                 ///< ADC port for right line photo transistor
#define AS_MUX_ODO_LEFT     (1 << MUX0)                 ///< ADC port for left odometry IR photo transistor
#define AS_MUX_ODO_RIGHT    0                           ///< ADC port for right odometry IR photo transistor
//@}

/** @name A/D conversion control */
//@{
#define AS_ADC_START        ADCSRA |= (1 << ADSC)   ///< start A/D conversion
#define AS_ADC_STOP         ADCSRA |= (1 << ADIF)   ///< stop A/D conversion (clear finished flag)
#define AS_ADC_FINISHED     (ADCSRA & (1 << ADIF))  ///< ADC finished
#define AS_ADC_VALUE        (ADCL + (ADCH << 8))    ///< encoded analogue value
//@}

/** @name Others */
//@{
#define AS_PD_IRRX      (1 << PD0)          ///< input port for IR receiver (IC2)
#define AS_IRRX_SAMPLE  (PIND & AS_PD_IRRX) ///< returns sample of current bit received by IC2
//@}

#endif /*ASURO_DEF_H_*/

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