#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 2 /** TWI address. */ #define AC_ASSERV_TWI_ADDRESS 6 /* 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, 1 /** 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 */