#ifndef sensor_rvb_h #define sensor_rvb_h // sensor_rvb.h // es - Input/Output general purpose board. {{{ // // Copyright (C) 2006 Dufour Jérémy // // Robot APB Team/Efrei 2004. // Web: http://assos.efrei.fr/robot/ // Email: robot AT efrei DOT fr // // 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. // // }}} #include "common.h" #include "io.h" /** Manage all the RVB sensors. * Connectors used : ENARVB7 PORTC7 ENARVB6 PORTC6 ENARVB5 PORTC5 ENARVB4 PORTC4 ENARVB3 PORTC3 ENARVB2 PORTC2 ENARVB1 PORTC1 ENANB1 PORTD6 ENANB2 PORTC0 OUTRVB PORTD7/PORTD4(IC1) S0RVB PORTF6 S1RVB PORTF7 Sensors actualy send us a frequency for a specific color. We have pins (ENA*) for selecting the sensor we want to use, some (S[01]RVB) for the color we want to watch and one (OUTRVB) for the output frequency. It uses the Input Capture and the Overflow interrupts. */ /** Maximum number of sensors we manage. */ #define RVB_MAX_SENSOR 9 /** Define the colors indexes. */ #define RVB_INDEX_RED 0 #define RVB_INDEX_BLUE 1 #define RVB_INDEX_CLEAR 2 #define RVB_INDEX_GREEN 3 /** Define the number of color the sensor can manages. */ #define RVB_MAX_INDEX 4 /** Is it an invalid value for sensor */ #define RVB_INVALID_CAPTURE 0xE000 /** Results table for 9 RVB sensors (RVCB) : * Values are in the folowing order : Red, Blue, Clear, Green. */ extern volatile uint16_t sensor_rvb_values[RVB_MAX_SENSOR][RVB_MAX_INDEX]; /** Initialisation of the RVB sensors module. */ void sensor_rvb_init (void); /** Start a capture RVBC values for sensors if we are not already doing one. */ void sensor_rvb_start_capture (void); /** Configure some internal variables. * - false_ic : maximum input capture to ignore before begining the real * capture. * - max_ov : maximum overflow of the timer/counter 1 before setting the * sensor dead. uint8_t ! */ void sensor_rvb_config (uint8_t false_ic, uint16_t max_ov); /** Update pins connected to the asserv AVR with the colors seen by the * sensors. */ void sensor_rvb_update_asserv_pins (void); #endif // sensor_rvb_h