summaryrefslogtreecommitdiff
path: root/n/es-2006/src/rvb_sensor.h
blob: cddf20d986b5d5e71f91c33d7a04220901cbdc72 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
#ifndef rvb_sensor_h
#define rvb_sensor_h
// rvb_sensor.h
// es - Input/Output general purpose board. {{{
//
// Copyright (C) 2006 Dufour J�r�my
//
// 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 :
  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
*/

/* Wonderful table of data */
// XXX
extern volatile uint16_t rvb_sensors_values [9][5];

/** Disable all sensors. */
extern inline void rvb_sensors_disable (void)
{
    /* High for disable */
    PORTC = 0xff;
    PORTD |= _BV(6);
}

/** Initialisation. */
void rvb_sensors_init (void);

/** Start updating RVBC values for sensors. */
void rvb_sensors_start_update (void);

// XXX
extern uint8_t sensor_disable;
void
rvb_sensor_watch (uint8_t sensor_num, uint8_t color_num);

#endif // rvb_sensor_h