sources/app/board.h

   1 #ifndef BOARD_H
   2 #define BOARD_H
   3
   4 #include "includes.h"
   5
   6 #define PIEX 50 //Set how many piexs in one line
   7 #define LINE 60         //Set how many lines in one frame
   8 #define FRAME 1         //Set how many frames to acquisition
   9
  10 #define POFFSET 100
  11 #define LOFFSET 48
  12 #define FOFFSET 4
  13
  14 #define S0  0           //Speed Switcher
  15 #define S1  6553
  16 #define S2  30107
  17 #define S4  38214
  18 #define S6  39321
  19 #define S8  52428
  20 #define S10 65000
  21
  22 #define M   3650               // Direction Switcher
  23 #define R1  2200
  24 #define L1  3200
  25 #define R2  1300
  26 #define L2  4200
  27 #define WLFT 700
  28 #define WRIT -800
  29
  30 #define LED1 PORTB_PB4
  31 #define LED2 PORTB_PB5
  32 #define LED3 PORTB_PB6
  33 #define LED4 PORTB_PB7
  34
  35 #define KEY1 PORTE_PE6
  36 #define KEY2 PORTE_PE5
  37 ///#define KEY3 PORTE_PE6
  38 //#define KEY4 PORTE_PE7
  39
  40 #define D0 PORTA_PA0
  41 #define D1 PORTA_PA1
  42 #define D2 PORTA_PA2
  43 #define D3 PORTA_PA3
  44 #define D4 PORTA_PA4
  45 #define D5 PORTA_PA5
  46 #define D6 PORTA_PA6
  47 #define D7 PORTA_PA7
  48
  49
  50 /*  **************************************************
  51  *  Board declared global variables .
  52  *  PAY ATTENTION to define each one at modified file.
  53  *  **************************************************/
  54
  55 extern  byte LINECNT;           //Count line numbers while IRQ is enable
  56 extern  byte FRAMECNT;          //Count frame numbers while PJINT is enable
  57 extern  byte LINEACH;
  58 extern  byte CNTFLAG;
  59 extern  byte LOFCNT;      //Count each LINEACH capture one line
  60 extern  int DR;
  61 extern byte data[LINE][PIEX];
  62
  63
  64 extern  byte    EVNB;           // Environment Brightness
  65 extern  bool    KNOCK;       // Task communicating
  66
  67 struct ctrl_data{
  68         int LOR;
  69         int WPLUS;
  70         int MOTOR;
  71 };
  72
  73 struct mod_data{
  74         byte MOD;       // Trace Module. LINE:0; 'S'route:1; 'U'route:2;
  75         byte STA;       // Route stage. Basically 3 Stage will be implemented. 1: head into; 2: in middle; 3: head out
  76
  77         int CNT;        // Trace central offset in LINE
  78         int TOP;        // Trace top boundary in LINE
  79         byte LFT;       // Trace left boundary in PIEX
  80         byte RIT;       // Trace right boundary in PIEX
  81 };
  82
  83 struct pid_data{
  84         int kp;
  85         int ki;
  86         int kd;
  87 };
  88
  89
  90 void delay(int );
  91 void dvrinit(void);
  92 void transchar(void);
  93 void transchar_n(void);
  94 void envb(void);
  95 void ctrl_pad(void);
  96 void data_proc(void);
  97 void ctrl_0(void);
  98 void ctrl_1(void);
  99 void ctrl_2(void);
 100 int feedback(int a, int b, int kp);
 101 #endif