[tuxdroid-svn] r495 - firmware/tuxcore/trunk
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[tuxdroid-svn] r495 - firmware/tuxcore/trunk
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From: jaguarondi <c2m...@c2...> - 2007-09-06 16:32:24
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Author: jaguarondi
Date: 2007-09-06 17:25:15 +0200 (Thu, 06 Sep 2007)
New Revision: 495
Added:
firmware/tuxcore/trunk/hardware.h
Modified:
firmware/tuxcore/trunk/global.h
firmware/tuxcore/trunk/ir.c
firmware/tuxcore/trunk/led.c
firmware/tuxcore/trunk/motors.h
firmware/tuxcore/trunk/sensors.c
Log:
* Moved all defines related to I/O ports to hardware.h. Doxygen comments added.
Modified: firmware/tuxcore/trunk/global.h
===================================================================
--- firmware/tuxcore/trunk/global.h 2007-09-06 15:23:54 UTC (rev 494)
+++ firmware/tuxcore/trunk/global.h 2007-09-06 15:25:15 UTC (rev 495)
@@ -19,150 +19,16 @@
/* $Id$ */
-#ifndef GLOBAL_H
-#define GLOBAL_H
+/** \file global.h
+ \brief Global ressources
+*/
+#ifndef _GLOBAL_H_
+#define _GLOBAL_H_
+
#include <avr/io.h>
#include "common/commands.h"
-/*
- * --------------------------------------------------------
- * SWITCHES
- * --------------------------------------------------------
- */
-
-/* Switches */
-// #define SW_PT PORTB [> switch port <]
-// #define SW_PIN PINB [> switch input port <]
-// #define SW_DDR DDRB [> switch DDR <]
-// #define SW_MK (_BV(PB3) | _BV(PB4) | _BV(PB5))
-// #define SW_LW_MK _BV(PB3) [> left wing switch <]
-// #define SW_RW_MK _BV(PB4) [> right wing switch <]
-#define SW_HD_PIN PINB /* head switch input port */
-#define SW_HD_PT PORTB /* head switch port */
-#define SW_HD_DDR DDRB /* head switch DDR */
-#define SW_HD_MK _BV(PB5) /* head switch */
-
-/* Position Switches */
-#define PSW_SPIN_MK _BV(PD3) /* spin switch */
-#define PSW_SPIN_PT PORTD
-#define PSW_SPIN_PIN PIND
-#define PSW_SPIN_DDR DDRD
-#define PSW_WINGS_MK _BV(PC1) /* wings switch */
-#define PSW_WINGS_PT PORTC
-#define PSW_WINGS_PIN PINC
-#define PSW_WINGS_DDR DDRC
-#define PSW_MOUTH_PT PORTB
-#define PSW_MOUTH_PIN PINB
-#define PSW_MOUTH_DDR DDRB
-#define PSW_MOUTH_O_MK _BV(PB3) /* mouth switch when opened */
-#define PSW_MOUTH_C_MK _BV(PB4) /* mouth switch when closed */
-#define PSW_MOUTH_MK (PSW_MOUTH_O_MK | PSW_MOUTH_C_MK)
-#define PSW_EYES_PT PORTD
-#define PSW_EYES_PIN PIND
-#define PSW_EYES_DDR DDRD
-#define PSW_EYES_O_MK _BV(PD6) /* eyes switch when opened */
-#define PSW_EYES_C_MK _BV(PD7) /* eyes switch when closed */
-#define PSW_EYES_MK (PSW_EYES_O_MK | PSW_EYES_C_MK)
-
-/*
- * --------------------------------------------------------
- * IR
- * --------------------------------------------------------
- */
-
-#define IR_LED_PT PORTD /* ir led */
-#define IR_LED_DDR DDRD
-#define IR_LED_MK _BV(PD5)
-#define IR_REC_PT PORTD /* ir receiver */
-#define IR_REC_PIN PIND
-#define IR_REC_DDR DDRD
-#define IR_REC_MK _BV(PD2)
-
-/*
- * --------------------------------------------------------
- * PHOTOTRANSISTOR
- * --------------------------------------------------------
- */
-
-#define LIGHT_PU_PORT PORTC
-#define LIGHT_PU_MK _BV(PC0)
-#define LIGHT_PU_DDR DDRC
-
-/*
- * --------------------------------------------------------
- * CHARGER
- * --------------------------------------------------------
- */
-
-#define CHARGER_INH_PT PORTB
-#define CHARGER_INH_DDR DDRB
-#define CHARGER_INH_MK _BV(PB6)
-
-/*
- * --------------------------------------------------------
- * LEDs
- * --------------------------------------------------------
- */
-
-#define LED_PT PORTC /* blue eye leds */
-#define LED_PIN PINC /* blue eye leds */
-#define LED_DDR DDRC
-#define LED_L_MK _BV(PC2) /* right blue led */
-#define LED_R_MK _BV(PC3) /* left blue led */
-#define LED_MK (LED_R_MK | LED_L_MK)
-
-/*
- * --------------------------------------------------------
- * ETERNAL I/O
- * --------------------------------------------------------
- */
-
-#define EXIO_PT PORTB
-#define EXIO_DDR DDRB
-#define EXIO_PIN PINB
-#define EXIO_MK _BV(PB7)
-
-/*
- * --------------------------------------------------------
- * MOTORS
- * --------------------------------------------------------
- */
-
-/* I/O */
-// #define MOT_PT PORTD [> motors port <]
-// #define MOT_DDR DDRD
-// #define MOT_MK (MOT_WINGS_FW | MOT_WINGS_BW | MOT_MOUTH_MK | MOT_EYES_MK | MOT_SPIN_R_MK | MOT_SPIN_L_MK)
-#define MOT_WINGS_BW_MK _BV(PD4) /* wing motor forward */
-#define MOT_WINGS_BW_PT PORTD
-#define MOT_WINGS_BW_DDR DDRD
-#define MOT_WINGS_FW_MK _BV(PB0) /* wing motor backward */
-#define MOT_WINGS_FW_PT PORTB
-#define MOT_WINGS_FW_DDR DDRB
-#define wingsPwmMask pwmMaskB
-#define MOT_MOUTH_MK _BV(PD1) /* mouth motor (forward) */
-#define MOT_MOUTH_PT PORTD
-#define MOT_MOUTH_DDR DDRD
-#define MOT_IMOUTH_MK _BV(PD0) /* inverted mouth motor (backward) */
-#define MOT_IMOUTH_PT PORTD
-#define MOT_IMOUTH_DDR DDRD
-#define MOT_IEYES_MK _BV(PD1) /* inverted eyes motor (backward) */
-#define MOT_IEYES_PT PORTD
-#define MOT_IEYES_DDR DDRD
-#define MOT_EYES_MK _BV(PD0) /* eyes motor (forward) */
-#define MOT_EYES_PT PORTD
-#define MOT_EYES_DDR DDRD
-#define MOT_SPIN_R_MK _BV(PB2) /* spin motor, turn on the right */
-#define MOT_SPIN_R_PT PORTB
-#define MOT_SPIN_R_DDR DDRB
-#define MOT_SPIN_L_MK _BV(PB1) /* spin motor, turn on the left */
-#define MOT_SPIN_L_PT PORTB
-#define MOT_SPIN_L_DDR DDRB
-#define MOT_SPIN_MK (MOT_SPIN_L_MK | MOT_SPIN_R_MK)
-#define MOT_SPIN_DDR DDRB
-#define MOT_SPIN_PT PORTB
-#define spinPwmMask pwmMaskB
-
/* Control */
#define EYES_OPEN_DLY 4 /* 4ms unit */
#define EYES_ICLOSE_DLY 4 /* 4ms unit */
@@ -172,6 +38,8 @@
#define SPIN_STOP_DLY 10 /* 4ms unit */
#define WINGS_STOP_DLY 4 /* 4ms unit */
+#define wingsPwmMask pwmMaskB
+#define spinPwmMask pwmMaskB
/*
* --------------------------------------------------------
* STATUS
@@ -379,4 +247,5 @@
#define sigout_unset turnLeftLedOff
#define sigin_ini() {LED_PT &= ~LED_R_MK; LED_DDR &= ~LED_R_MK;} /* used as signal input */
#define sigin (LED_PIN & LED_R_MK) /* wait for tester to be as pull up */
-#endif
+
+#endif /* _GLOBAL_H_ */
Added: firmware/tuxcore/trunk/hardware.h
===================================================================
--- firmware/tuxcore/trunk/hardware.h (rev 0)
+++ firmware/tuxcore/trunk/hardware.h 2007-09-06 15:25:15 UTC (rev 495)
@@ -0,0 +1,262 @@
+/*
+ * TUXCORE - Firmware for the 'core' CPU of tuxdroid
+ * Copyright (C) 2007 C2ME S.A. <tux...@c2...>
+ *
+ * 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
+ */
+
+/* $Id$ */
+
+/** \file hardware.h
+ \brief Hardware configuration of the I/O pins
+*/
+
+#ifndef _HARDWARE_H_
+#define _HARDWARE_H_
+
+#include <avr/io.h>
+
+/** \defgroup hardware Hardware configuration
+ *
+ * Description of all the hardware connected to the I/O of the CPU.
+ */
+
+/** \ingroup hardware */
+/*! @{ */
+
+/**
+ * \name Head button
+ * The head button switch shortcuts to ground when pressed.
+ * @{ */
+/** Head button PIN (input port). */
+#define SW_HD_PIN PINB
+/** Head button PORT. */
+#define SW_HD_PT PORTB
+/** Head button DDR. */
+#define SW_HD_DDR DDRB
+/** Head button mask.*/
+#define SW_HD_MK _BV(PB5)
+/*! @} */
+
+/**
+ * \name Position switches
+ * All position switches shortcuts to ground when pressed.
+ *
+ * - The spin switch is presed approximately each quarter of turn.
+ * - The flipper switch is pressed when the flippers are up or down. There's
+ * only one switch for both positions so it's tricky to know the absolute
+ * position of the flippers.
+ * - The eyes and mouth both have 2 switches to detect when they are open or
+ * closed. The corresponding switch is pressed when a plain position is
+ * reached. In between, both switches are released.
+ * @{ */
+/** Spin switch mask. */
+#define PSW_SPIN_MK _BV(PD3)
+/** Spin switch PIN. */
+#define PSW_SPIN_PIN PIND
+/** Spin switch PORT. */
+#define PSW_SPIN_PT PORTD
+/** Spin switch DDR. */
+#define PSW_SPIN_DDR DDRD
+/** Flippers position switch PIN. */
+#define PSW_WINGS_PIN PINC
+/** Flippers position switch PORT. */
+#define PSW_WINGS_PT PORTC
+/** Flippers position switch DDR. */
+#define PSW_WINGS_DDR DDRC
+/** Flippers position switch mask. */
+#define PSW_WINGS_MK _BV(PC1)
+/** Mouth position switches PIN. */
+#define PSW_MOUTH_PIN PINB
+/** Mouth position switches PORT. */
+#define PSW_MOUTH_PT PORTB
+/** Mouth position switches DDR. */
+#define PSW_MOUTH_DDR DDRB
+/** Mouth open position switch mask. */
+#define PSW_MOUTH_O_MK _BV(PB3)
+/** Mouth closed position switch mask. */
+#define PSW_MOUTH_C_MK _BV(PB4)
+/** Mouth position switches mask. */
+#define PSW_MOUTH_MK (PSW_MOUTH_O_MK | PSW_MOUTH_C_MK)
+/** Eyes position switches PIN. */
+#define PSW_EYES_PIN PIND
+/** Eyes position switches PORT. */
+#define PSW_EYES_PT PORTD
+/** Eyes position switches DDR. */
+#define PSW_EYES_DDR DDRD
+/** Eyes open position switch mask. */
+#define PSW_EYES_O_MK _BV(PD6)
+/** Eyes closed position switch mask. */
+#define PSW_EYES_C_MK _BV(PD7)
+/** Eyes position switches mask. */
+#define PSW_EYES_MK (PSW_EYES_O_MK | PSW_EYES_C_MK)
+/*! @} */
+
+/**
+ * \name IR
+ * - The IR led is controlled through a power driver. Setting the output pin
+ * will turn the led on.
+ * - The IR receiver is directly connected to the input pin. The signal is
+ * normally high and goes low when an IR signal is received.
+ * @{ */
+/** IR led PORT. */
+#define IR_LED_PT PORTD
+/** IR led DDR. */
+#define IR_LED_DDR DDRD
+/** IR led mask. */
+#define IR_LED_MK _BV(PD5)
+/** IR receiver PIN. */
+#define IR_REC_PIN PIND
+/** IR receiver PORT. */
+#define IR_REC_PT PORTD
+/** IR receiver DDR. */
+#define IR_REC_DDR DDRD
+/** IR receiver mask. */
+#define IR_REC_MK _BV(PD2)
+/*! @} */
+
+/**
+ * \name Phototransistor
+ * The Phototransistor is connected as an LDR to a 1MOhms resistor. A second
+ * pull-up of 10kOhms can be added in parallel to change the load. The extra
+ * pull-up is disconnected when the pin is left in high-Z mode, and is added
+ * when the pin is set as strong high.
+ * @{ */
+/** Phototransistor extra pull-up PORT. */
+#define LIGHT_PU_PORT PORTC
+/** Phototransistor extra pull-up DDR. */
+#define LIGHT_PU_DDR DDRC
+/** Phototransistor extra pull-up mask. */
+#define LIGHT_PU_MK _BV(PC0)
+/*! @} */
+
+/**
+ * \name Charger inhibit
+ * This pin inhibits the charge when set high. It shouldn't be left in high-z
+ * otherwise the charge won't be stable. Keep it low.
+ * @{ */
+/*
+ * Charger
+ */
+/** Charger inhibit PORT. */
+#define CHARGER_INH_PT PORTB
+/** Charger inhibit DDR. */
+#define CHARGER_INH_DDR DDRB
+/** Charger inhibit mask. */
+#define CHARGER_INH_MK _BV(PB6)
+/*! @} */
+
+/**
+ * \name LED
+ * The leds are directly connected to the output pins through a 100 Ohms
+ * resistor.
+ * @{ */
+/** Blue eyes leds PIN. */
+#define LED_PIN PINC
+/** Blue eyes leds PORT. */
+#define LED_PT PORTC
+/** Blue eyes leds DDR. */
+#define LED_DDR DDRC
+/** Blue eyes right led mask. */
+#define LED_L_MK _BV(PC2)
+/** Blue eyes left led mask. */
+#define LED_R_MK _BV(PC3)
+/** Blue eyes both leds mask. */
+#define LED_MK (LED_R_MK | LED_L_MK)
+/*! @} */
+
+/**
+ * \name External I/O
+ * The external I/O is routed to the external connector which is accessible in
+ * the battery compartment of tux. There's a 330 Ohms resistor in series to
+ * protect the IC.
+ * @{ */
+/** External I/O PIN. */
+#define EXIO_PIN PINB
+/** External I/O PORT. */
+#define EXIO_PT PORTB
+/** External I/O DDR. */
+#define EXIO_DDR DDRB
+/** External I/O mask. */
+#define EXIO_MK _BV(PB7)
+/*! @} */
+
+/**
+ * \name Motors
+ * The motor drivers use 2 pins to move forward or backward. Setting the first
+ * pin to high will move forward, setting the other will turn backward. You
+ * can't set both simultaneously as that doesn't make sense and is dangerous
+ * for the motor driver. Here we added a protection so that even in this case,
+ * the motor driver won't burn and the motor will simply turn in one direction.
+ * @{ */
+/** Flippers backward motor PORT. */
+#define MOT_WINGS_BW_PT PORTD
+/** Flippers backward motor DDR. */
+#define MOT_WINGS_BW_DDR DDRD
+/** Flippers backward motor mask. */
+#define MOT_WINGS_BW_MK _BV(PD4)
+/** Flippers forward motor PORT. */
+#define MOT_WINGS_FW_PT PORTB
+/** Flippers forward motor DDR. */
+#define MOT_WINGS_FW_DDR DDRB
+/** Flippers forward motor mask. */
+#define MOT_WINGS_FW_MK _BV(PB0)
+/** Mouth motor PORT. */
+#define MOT_MOUTH_PT PORTD
+/** Mouth motor DDR. */
+#define MOT_MOUTH_DDR DDRD
+/** Mouth motor mask. */
+#define MOT_MOUTH_MK _BV(PD1)
+/** Mouth inverted motor PORT. */
+#define MOT_IMOUTH_PT PORTD
+/** Mouth inverted motor DDR. */
+#define MOT_IMOUTH_DDR DDRD
+/** Mouth inverted motor mask. */
+#define MOT_IMOUTH_MK _BV(PD0)
+/** Eyes motor PORT. */
+#define MOT_IEYES_PT PORTD
+/** Eyes motor DDR. */
+#define MOT_IEYES_DDR DDRD
+/** Eyes motor mask. */
+#define MOT_IEYES_MK _BV(PD1) /* inverted eyes motor (backward) */
+/** Eyes inverted motor PORT. */
+#define MOT_EYES_PT PORTD
+/** Eyes inverted motor DDR. */
+#define MOT_EYES_DDR DDRD
+/** Eyes inverted motor mask. */
+#define MOT_EYES_MK _BV(PD0) /* eyes motor (forward) */
+/** Spinning right motor PORT. */
+#define MOT_SPIN_R_PT PORTB
+/** Spinning right motor DDR. */
+#define MOT_SPIN_R_DDR DDRB
+/** Spinning right motor mask. */
+#define MOT_SPIN_R_MK _BV(PB2) /* spin motor, turn on the right */
+/** Spinning left motor PORT. */
+#define MOT_SPIN_L_PT PORTB
+/** Spinning left motor DDR. */
+#define MOT_SPIN_L_DDR DDRB
+/** Spinning left motor mask. */
+#define MOT_SPIN_L_MK _BV(PB1) /* spin motor, turn on the left */
+/** Spinning motor PORT. */
+#define MOT_SPIN_PT PORTB
+/** Spinning motor DDR. */
+#define MOT_SPIN_DDR DDRB
+/** Spinning motor mask. */
+#define MOT_SPIN_MK (MOT_SPIN_L_MK | MOT_SPIN_R_MK)
+/*! @} */
+
+/*! @} */
+
+#endif /* _HARDWARE_H_ */
Property changes on: firmware/tuxcore/trunk/hardware.h
___________________________________________________________________
Name: svn:mime-type
+ text/plain
Name: svn:keywords
+ Id
Name: svn:eol-style
+ native
Modified: firmware/tuxcore/trunk/ir.c
===================================================================
--- firmware/tuxcore/trunk/ir.c 2007-09-06 15:23:54 UTC (rev 494)
+++ firmware/tuxcore/trunk/ir.c 2007-09-06 15:25:15 UTC (rev 495)
@@ -23,6 +23,7 @@
#include <avr/io.h>
#include "global.h"
+#include "hardware.h"
#include "ir.h"
// #define __debug__
Modified: firmware/tuxcore/trunk/led.c
===================================================================
--- firmware/tuxcore/trunk/led.c 2007-09-06 15:23:54 UTC (rev 494)
+++ firmware/tuxcore/trunk/led.c 2007-09-06 15:25:15 UTC (rev 495)
@@ -20,6 +20,7 @@
/* $Id$ */
#include "global.h"
+#include "hardware.h"
#include "led.h"
uint8_t led_delay, led_blinking_pw, led_blinking_cnt; /* led blinking registers */
Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h 2007-09-06 15:23:54 UTC (rev 494)
+++ firmware/tuxcore/trunk/motors.h 2007-09-06 15:25:15 UTC (rev 495)
@@ -55,9 +55,11 @@
/** \file motors.c
\ingroup movements
*/
-#ifndef MOTORS_H
-#define MOTORS_H
+#ifndef _MOTORS_H_
+#define _MOTORS_H_
+#include "hardware.h"
+
#define WINGS_TIM_RESET 0Xff
#define WINGS_TIM_DIFF 0x10
enum mouth_pos_s
@@ -72,9 +74,6 @@
extern uint8_t mouthStpCnt, mouthPosCnt, mouth_pos;
extern uint8_t spinPosCnt, spinStpCnt, spinPwm;
-/* switches interrupts vector for timer debounce */
-extern volatile uint8_t int_sw_flags;
-
/* pwm mask registers */
extern uint8_t pwmMaskB;
@@ -222,7 +221,6 @@
#define PWM_PERIOD 5
uint8_t static pwm_tim;
-
static inline void motor_control(void) __attribute__ ((always_inline));
void motor_control(void)
{
@@ -296,4 +294,4 @@
}
}
}
-#endif
+#endif /* _MOTORS_H_ */
Modified: firmware/tuxcore/trunk/sensors.c
===================================================================
--- firmware/tuxcore/trunk/sensors.c 2007-09-06 15:23:54 UTC (rev 494)
+++ firmware/tuxcore/trunk/sensors.c 2007-09-06 15:25:15 UTC (rev 495)
@@ -23,6 +23,7 @@
#include <avr/io.h>
#include "global.h"
+#include "hardware.h"
/*
* ADC conversion complete.
|
