root / scout_avr / src / bom.h @ fd73d758
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1 | f115416e | Tom Mullins | #ifndef _BOM_H
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2 | #define _BOM_H
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3 | |||
4 | extern "C" { |
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5 | #include <stdint.h> |
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6 | } |
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7 | |||
8 | // constants for direction
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9 | #define BOM_FRONT 0 |
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10 | #define BOM_BACK 1 |
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11 | #define BOM_LEFT 2 |
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12 | #define BOM_RIGHT 3 |
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13 | |||
14 | // timing, in us, for read of valid bits
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15 | 31f4a032 | Tom Mullins | #define MIN_LOW_PW 600 |
16 | #define MAX_LOW_PW 1400 |
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17 | #define MIN_HIGH_PW 1600 |
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18 | #define MAX_HIGH_PW 2400 |
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19 | f115416e | Tom Mullins | |
20 | // returned by bom_get if there is no new data since last call
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21 | #define BOM_NO_DATA -1 |
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22 | |||
23 | // i/o pins
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24 | // if these are changed, remember to change bom_init and/or ISRs
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25 | cc9ca04e | Tom Mullins | #define PIN_BOM_SIG PINB
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26 | #define P_BOM_SIG0 PB0
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27 | #define P_BOM_SIG1 PB1
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28 | #define P_BOM_SIG2 PB2
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29 | #define P_BOM_SIG3 PB3
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30 | |||
31 | #define PORT_BOM_EMIT PORTF
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32 | #define P_BOM_EMIT0 PF4
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33 | #define P_BOM_EMIT1 PF5
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34 | #define P_BOM_EMIT2 PF6
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35 | #define P_BOM_EMIT3 PF7
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36 | f115416e | Tom Mullins | |
37 | typedef uint8_t bom_msg_t;
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38 | |||
39 | inline char bom_msg_get_robot_id(bom_msg_t msg) { |
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40 | return msg >> 2; |
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41 | } |
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42 | inline char bom_msg_get_dir(bom_msg_t msg) { |
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43 | return msg & 3; |
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44 | } |
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45 | inline bom_msg_t bom_msg_make(char id, char dir) { |
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46 | return (id << 2) | (dir & 3); |
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47 | } |
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48 | |||
49 | void set_robot_id(char id); |
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50 | char get_robot_id(void); |
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51 | |||
52 | cc9ca04e | Tom Mullins | // NOTE: call range_init before bom_init to ensure timer 5 is set up!
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53 | f115416e | Tom Mullins | void bom_init(void); |
54 | void bom_send(char dir); |
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55 | int bom_get(char dir); |
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56 | |||
57 | 812788aa | Tom Mullins | // toggles output - should be called at around 76 kHz
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58 | void bom_isr();
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59 | |||
60 | f115416e | Tom Mullins | #endif |