#ifndef avrconfig_h #define avrconfig_h /* avrconfig.h */ /* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{ * * Copyright (C) 2008 Dufour Jérémy * * 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 16000000 /* uart - UART module. */ /** Select hardware uart for primary uart: 0, 1 or -1 to disable. */ #define AC_UART0_PORT 1 /** 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 32 /** 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 WAIT /** 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 /* 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 0 /** Enable master part. */ #define AC_TWI_MASTER_ENABLE 1 /** Master transfer completion callback, optionally defined by the user, called * at end of master transfer. */ #undef AC_TWI_MASTER_DONE /** Use internal pull up. */ #define AC_TWI_PULL_UP 0 /* usdist - Analog US distance sensor. */ /** Number of sensors. */ #define AC_USDIST_NB 4 /** Measuring period, in number of update call. */ #define AC_USDIST_PERIOD 1 /** List of space separated sensor definition, see usdist.h. */ #define AC_USDIST_SENSORS \ USDIST_SENSOR (0, A, 0) \ USDIST_SENSOR (1, A, 1) \ USDIST_SENSOR (2, A, 2) \ USDIST_SENSOR (3, A, 3) /* path - Path finding module. */ /** Report path found for debug. */ #define AC_PATH_REPORT defined (HOST) /** Report function name. */ #define AC_PATH_REPORT_CALLBACK simu_send_path /** Number of possible obstacles. */ #define AC_PATH_OBSTACLES_NB 2 /* astar - A* path finding module. */ /** Neighbor callback. */ #define AC_ASTAR_NEIGHBOR_CALLBACK path_astar_neighbor_callback /** Heuristic callback. */ #define AC_ASTAR_HEURISTIC_CALLBACK path_astar_heuristic_callback /* io-hub - io/ai board. */ /** TWI address of the io board. */ #define AC_IO_TWI_ADDRESS 8 /** PWM setting. */ #define AC_IOHUB_PWM \ PWM (1, A, B, 5, D, 4) \ PWM (1, B, B, 6, D, 5) \ PWM (1, C, B, 7, D, 6) \ PWM (3, A, C, 6, C, 7) \ PWM (3, B, C, 5, C, 3) \ PWM (3, C, C, 4, C, 2) /** Use asserv board. */ #define AC_AI_TWI_MASTER_ASSERV 1 /** Use mimot board. */ #define AC_AI_TWI_MASTER_MIMOT 1 /** Use beacon board. */ #define AC_AI_TWI_MASTER_BEACON 0 /* asserv. */ /** Number of auxiliary motors. */ #define AC_ASSERV_AUX_NB 2 #endif /* avrconfig_h */