sources/app/board.h

   1 #ifndef BOARD_H
   2 #define BOARD_H
   3
   4 #include "includes.h"
   5 #include "image.h"
   6
   7
   8 #define METER   3200
   9
  10 #define LED4 PORTB_PB4
  11 #define LED3 PORTB_PB5
  12 #define LED2 PORTB_PB6
  13 #define LED1 PORTB_PB7
  14
  15 #define KEY1 PORTE_PE6
  16 #define KEY2 PORTE_PE5
  17 ///#define KEY3 PORTE_PE6
  18 //#define KEY4 PORTE_PE7
  19
  20 #define D0 PORTA_PA0
  21 #define D1 PORTA_PA1
  22 #define D2 PORTA_PA2
  23 #define D3 PORTA_PA3
  24 #define D4 PORTA_PA4
  25 #define D5 PORTA_PA5
  26 #define D6 PORTA_PA6
  27 #define D7 PORTA_PA7
  28
  29 #define FIFO_REN        PORTB_PB0
  30 #define FIFO_RCLK       PORTB_PB1
  31 #define FIFO_OE         PORTB_PB2
  32
  33 #define ADC_OE          PORTB_PB3
  34
  35 #define FIFO_RS         PTT_PTT4
  36 #define FIFO_WEN        PTT_PTT5
  37 #define FIFO_EF         PTT_PTT6
  38
  39 #define ARM_RDY         PTM_PTM0
  40 #define ARM_MODE        PTM_PTM5
  41 #define ARM_CLK         PTM_PTM3
  42 #define ARM_RCVD        PTM_PTM2
  43
  44 #define DATA_DDR        PTS_PTS3
  45
  46
  47
  48 extern unsigned char image_data[VER][HOR];
  49
  50
  51 /*  **************************************************
  52  *  Board declared global variables .
  53  *  PAY ATTENTION to define each one at modified file.
  54  *  **************************************************/
  55 /*
  56 extern  byte LINECNT;           //Count line numbers while IRQ is enable
  57 extern  byte FRAMECNT;          //Count frame numbers while PJINT is enable
  58 extern  byte LINEACH;
  59 extern  byte CNTFLAG;
  60 extern  byte LOFCNT;      //Count each LINEACH capture one line
  61 extern  int DR;
  62 extern  int SPEED;
  63 extern byte data[LINE][PIEX];
  64
  65
  66 extern  byte    EVNB;           // Environment Brightness
  67 extern  bool    KNOCK;       // Task communicating
  68
  69 struct ctrl_data{
  70         INT16U LOR;
  71         INT16U WPLUS;
  72         INT16U MOTOR;
  73         INT16U RVS;                        // Control motor reverse running
  74 };
  75
  76 struct mod_data{
  77         byte MOD;       // Trace Module. LINE:0; 'S'route:1; 'U'route:2;
  78         byte STA;       // Route stage. Basically 3 Stage will be implemented. 1: head into; 2: in middle; 3: head out
  79         byte RQR;       // Module change require. Almost occured from 'S' 'U' to LINE
  80
  81         int CNT;        // Trace central offset in LINE
  82         int TOP;        // Trace top boundary in LINE
  83         byte LFT;       // Trace left boundary in PIEX
  84         byte RIT;       // Trace right boundary in PIEX
  85 };
  86
  87 struct pid_data{
  88         int kp;
  89         int ki;
  90         int kd;
  91 };
  92 */
  93
  94 void delay(int );
  95 void dvrinit(void);
  96 void transchar(char *);
  97 void transchar_n(char *);
  98 int transdbg(char *buff, int size);
  99 /*
 100 void envb(void);
 101 void ctrl_pad(void);
 102 void data_proc(void);
 103 void ctrl_0(void);
 104 void ctrl_1(void);
 105 void ctrl_2(void);
 106 int feedback(int a, int b, struct pid_data pid);
 107 int speed_acq(void);
 108 */
 109 #endif