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+#ifndef simu_host_h
+#define simu_host_h
+/* simu.host.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2006 Nicolas Schodet
+ *
+ * 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.
+ *
+ * Contact :
+ * Web: http://perso.efrei.fr/~schodet/
+ * }}} */
+
+/** Simulate some AVR regs. */
+extern uint8_t DDRD, PORTD, PORTA, PORTC, PINA, PINF;
+
+/** Overall counter values. */
+extern uint16_t counter_left, counter_right;
+/** Counter differences since last update.
+ * Maximum of 9 significant bits, sign included. */
+extern int16_t counter_left_diff, counter_right_diff;
+
+/** Define the direction output for left motor. */
+#define PWM_LEFT_DIR 3
+/** Define the direction output for right motor. */
+#define PWM_RIGHT_DIR 2
+
+/** Define the absolute maximum PWM value. */
+#define PWM_MAX 0x3ff
+
+/** PWM values, this is an error if absolute value is greater than the
+ * maximum. */
+extern int16_t pwm_left, pwm_right;
+/** PWM reverse direction, only set pwm dir bits or you will get weird results
+ * on port B. */
+extern uint8_t pwm_dir;
+
+/** Computed simulated position. */
+extern double simu_pos_x, simu_pos_y, simu_pos_a;
+
+#define EEPROM_KEY 0xa5
+#define eeprom_read_params() do { } while (0)
+#define eeprom_write_params() do { } while (0)
+#define eeprom_clear_params() do { } while (0)
+
+/* +AutoDec */
+
+/** Initialise the timer. */
+void
+timer_init (void);
+
+/** Wait for timer overflow. */
+void
+timer_wait (void);
+
+/** Read timer value. Used for performance analysis. */
+uint8_t
+timer_read (void);
+
+/** Initialize the counters. */
+void
+counter_init (void);
+
+/** Update overall counter values and compute diffs. */
+void
+counter_update (void);
+
+/** Restart counting. */
+void
+counter_restart (void);
+
+/** Initialise PWM generator. */
+void
+pwm_init (void);
+
+/** Update the hardware PWM values. */
+void
+pwm_update (void);
+
+/* -AutoDec */
+
+#endif /* simu_host_h */