summaryrefslogtreecommitdiffhomepage
path: root/digital/mimot/src/asserv/avrconfig.h
diff options
context:
space:
mode:
Diffstat (limited to 'digital/mimot/src/asserv/avrconfig.h')
-rw-r--r--digital/mimot/src/asserv/avrconfig.h173
1 files changed, 173 insertions, 0 deletions
diff --git a/digital/mimot/src/asserv/avrconfig.h b/digital/mimot/src/asserv/avrconfig.h
new file mode 100644
index 00000000..f6c13b83
--- /dev/null
+++ b/digital/mimot/src/asserv/avrconfig.h
@@ -0,0 +1,173 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 0
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 128
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 12
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* asserv. */
+/** Number of auxiliary motors. */
+#define AC_ASSERV_AUX_NB 0
+/** TWI address. */
+#define AC_ASSERV_TWI_ADDRESS 4
+/** Header file misc.h. */
+#define AC_ASSERV_MISC_H <misc.h>
+/** Header file contacts.h. */
+#define AC_ASSERV_CONTACTS_H <contacts.h>
+
+/* twi - TWI module. */
+/** Driver to implement TWI: HARD, SOFT, or USI. */
+#define AC_TWI_DRIVER HARD
+/** Do not use interrupts. */
+#define AC_TWI_NO_INTERRUPT 0
+/** TWI frequency, should really be 100 kHz. */
+#define AC_TWI_FREQ 100000
+/** Enable slave part. */
+#define AC_TWI_SLAVE_ENABLE 1
+/** Enable master part. */
+#define AC_TWI_MASTER_ENABLE 0
+/** Use polled slave mode: received data is stored in a buffer which can be
+ * polled using twi_slave_poll. */
+#define AC_TWI_SLAVE_POLLED 1
+/** Slave reception callback to be defined by the user when not in polled
+ * mode. */
+#undef AC_TWI_SLAVE_RECV
+/** Use internal pull up. */
+#define AC_TWI_PULL_UP 0
+/** Slave reception buffer size. */
+#define AC_TWI_SLAVE_RECV_BUFFER_SIZE 16
+/** Slave transmission buffer size. */
+#define AC_TWI_SLAVE_SEND_BUFFER_SIZE 16
+
+/* motor/encoder - Encoder module. */
+/** Use external encoder module. */
+#define AC_ENCODER_USE_EXT 1
+
+/* motor/encoder/ext - External encoder module. */
+/** Number of encoders. */
+#define AC_ENCODER_EXT_NB 2
+/** Use external memory hardware interface. */
+#define AC_ENCODER_EXT_USE_XMEM 0
+/** If not using XMEM, address/data bus, see io_bus.h. */
+#define AC_ENCODER_EXT_AD_BUS A, 4, 0, B, 4, 0
+/** If not using XMEM, address latch enable IO. */
+#define AC_ENCODER_EXT_ALE_IO B, 4
+/** If not using XMEM, read enable IO, valid low. */
+#define AC_ENCODER_EXT_RD_IO D, 6
+/** Reverse flag for each encoder (1 to reverse direction). */
+#define AC_ENCODER_EXT_REVERSE 0, 0
+/** Right shift for all encoders to lower resolution. */
+#define AC_ENCODER_EXT_SHIFT 1
+/** For debug purpose only! */
+#define AC_ENCODER_EXT_EXPORT_READ 0
+
+/* motor/output - Output module. */
+/** Use Output Compare PWM output. */
+#define AC_OUTPUT_USE_PWM_OCR 1
+/** Use Motor Power PWM output. */
+#define AC_OUTPUT_USE_PWM_MP 0
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST (pwm_ocr, 0), (pwm_ocr, 1)
+
+/* motor/output/pwm_ocr - Output Compare PWM output module. */
+/** For each output, define output parameters:
+ *
+ * (timer, ocr, pwm_io, dir_io[, brake_io])
+ *
+ * With:
+ * - timer: timer number (ex: 1 for TIMER1)
+ * - ocr: output compare (ex: A for output compare A)
+ * - mode: compare output mode (ex: 2, see datasheet)
+ * - pwm_io: corresponding io port (ex: B, 1)
+ * - dir_io: io port used for direction (ex: B, 2)
+ * - brake_io: optional io port used for brake (ex: B, 3)
+ */
+#define AC_OUTPUT_PWM_OCR_LIST \
+ (1, A, 2, D,5, D,3, A,4), \
+ (1, B, 2, D,4, D,2, A,5)
+/** Clock select for each used timer. */
+#define AC_OUTPUT_PWM_OCR_CS_1 0b0001
+/** Waveform Generation Mode for each used timer. */
+#define AC_OUTPUT_PWM_OCR_WGM_1 0b0011
+/** Offset added to PWM value to compensate for H-bridge weakness. */
+#define AC_OUTPUT_PWM_OCR_OFFSET 0x40
+
+#endif /* avrconfig_h */