include/asuro_defs.h File Reference

General definitions for ASURO (eg pin assignments). More...

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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).
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.
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
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
IO direction
#define	AS_BACK_LED_MODE   DDRC |= (AS_PC_LED_LBACK | AS_PC_LED_RBACK)
#define	AS_ODOMETRY_MODE   DDRC &= ~(AS_PC_LED_LBACK | AS_PC_LED_RBACK)
Sensors
#define	AS_PD_SWITCHES   (1 << PD3)
	PD3: port for switches.
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
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.
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
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
Defines
#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

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Detailed Description

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.

Definition in file asuro_defs.h.

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