e_epuck_ports.h File Reference

Define all the usefull names corresponding of e-puck's hardware. More...

#include "p30f6014A.h"

Defines
#define	FOSC   7.3728e6
#define	PLL   8.0
#define	FCY   ((FOSC*PLL)/(4.0))
#define	MILLISEC   (FCY/1.0e3)
#define	MICROSEC   (FCY/1.0e6)
#define	NANOSEC   (FCY/1.0e9)
#define	TCY_PIC   (1e9/FCY)
#define	INTERRUPT_DELAY   (10*TCY_PIC)
#define	TRUE   1
#define	FALSE   0
#define	OUTPUT_PIN   0
#define	LED0   _LATA6
#define	LED1   _LATA7
#define	LED2   _LATA9
#define	LED3   _LATA12
#define	LED4   _LATA10
#define	LED5   _LATA13
#define	LED6   _LATA14
#define	LED7   _LATA15
#define	LED0_DIR   _TRISA6
#define	LED1_DIR   _TRISA7
#define	LED2_DIR   _TRISA9
#define	LED3_DIR   _TRISA12
#define	LED4_DIR   _TRISA10
#define	LED5_DIR   _TRISA13
#define	LED6_DIR   _TRISA14
#define	LED7_DIR   _TRISA15
#define	FRONT_LED   _LATC1
#define	FRONT_LED_DIR   _TRISC1
#define	BODY_LED   _LATC2
#define	BODY_LED_DIR   _TRISC2
#define	PULSE_IR0   _LATF7
#define	PULSE_IR1   _LATF8
#define	PULSE_IR2   _LATG0
#define	PULSE_IR3   _LATG1
#define	PULSE_IR0_DIR   _TRISF7
#define	PULSE_IR1_DIR   _TRISF8
#define	PULSE_IR2_DIR   _TRISG0
#define	PULSE_IR3_DIR   _TRISG1
#define	IR0   8
#define	IR1   9
#define	IR2   10
#define	IR3   11
#define	IR4   12
#define	IR5   13
#define	IR6   14
#define	IR7   15
#define	MIC1   2
#define	MIC2   3
#define	MIC3   4
#define	ACCX   5
#define	ACCY   6
#define	ACCZ   7
#define	AUDIO_ON   _LATF0
#define	AUDIO_ON_DIR   _TRISF0
#define	MOTOR1_PHA   _LATD0
#define	MOTOR1_PHB   _LATD1
#define	MOTOR1_PHC   _LATD2
#define	MOTOR1_PHD   _LATD3
#define	MOTOR2_PHA   _LATD4
#define	MOTOR2_PHB   _LATD5
#define	MOTOR2_PHC   _LATD6
#define	MOTOR2_PHD   _LATD7
#define	MOTOR1_PHA_DIR   _TRISD0
#define	MOTOR1_PHB_DIR   _TRISD1
#define	MOTOR1_PHC_DIR   _TRISD2
#define	MOTOR1_PHD_DIR   _TRISD3
#define	MOTOR2_PHA_DIR   _TRISD4
#define	MOTOR2_PHB_DIR   _TRISD5
#define	MOTOR2_PHC_DIR   _TRISD6
#define	MOTOR2_PHD_DIR   _TRISD7
#define	CAM_RESET   _LATC13
#define	CAM_RESET_DIR   _TRISC13
#define	SIO_D   _LATG3
#define	SIO_D_DIR   _TRISG3
#define	SIO_C   _LATG2
#define	SIO_C_DIR   _TRISG2
#define	INPUT_PIN   1
#define	BATT_LOW   _RF1
#define	BATT_LOW_DIR   _TRISF1
#define	SELECTOR0   _RG6
#define	SELECTOR1   _RG7
#define	SELECTOR2   _RG8
#define	SELECTOR3   _RG9
#define	SELECTOR0_DIR   _TRISG6
#define	SELECTOR1_DIR   _TRISG7
#define	SELECTOR2_DIR   _TRISG8
#define	SELECTOR3_DIR   _TRISG9
#define	REMOTE   _RF6
#define	REMOTE_DIR   _TRISF6
#define	CAM_DATA   PORTD;
#define	CAM_y0   _RD8
#define	CAM_y1   _RD9
#define	CAM_y2   _RD10
#define	CAM_y3   _RD11
#define	CAM_y4   _RD12
#define	CAM_y5   _RD13
#define	CAM_y6   _RD14
#define	CAM_y7   _RD15
#define	CAM_y0_DIR   _TRISD8
#define	CAM_y1_DIR   _TRISD9
#define	CAM_y2_DIR   _TRISD10
#define	CAM_y3_DIR   _TRISD11
#define	CAM_y4_DIR   _TRISD12
#define	CAM_y5_DIR   _TRISD13
#define	CAM_y6_DIR   _TRISD14
#define	CAM_y7_DIR   _TRISD15
#define	CAM_PWDN   _RC2
#define	CAM_VSYNC   _RC4
#define	CAM_HREF   _RC3
#define	CAM_PCLK   _RC14
#define	CAM_PWDN_DIR   _TRISC2
#define	CAM_VSYNC_DIR   _TRISC4
#define	CAM_HREF_DIR   _TRISC3
#define	CAM_PCLK_DIR   _TRISC14
#define	NOP()   {__asm__ volatile ("nop");}
#define	CLRWDT()   {__asm__ volatile ("clrwdt");}
#define	SLEEP()   {__asm__ volatile ("pwrsav #0");}
#define	IDLE()   {__asm__ volatile ("pwrsav #1");}
#define	INTERRUPT_OFF()   {__asm__ volatile ("disi #10000");}
#define	INTERRUPT_ON()   {__asm__ volatile ("disi #2");}
#define	RESET()   {__asm__ volatile ("reset");}
#define	STOP_TMR1   IEC0bits.T1IE = 0
#define	STOP_TMR2   IEC0bits.T2IE = 0
#define	STOP_TMR3   IEC0bits.T3IE = 0
#define	STOP_TMR4   IEC1bits.T4IE = 0
#define	STOP_TMR5   IEC1bits.T5IE = 0

---

Detailed Description

Define all the usefull names corresponding of e-puck's hardware.

Author:

Code: Michael Bonani, Francesco Mondada, Davis Dadie
Doc: Jonathan Besuchet

---

Define Documentation

#define ACCX   5

#define ACCY   6

#define ACCZ   7

#define AUDIO_ON   _LATF0

#define AUDIO_ON_DIR   _TRISF0

#define BATT_LOW   _RF1

#define BATT_LOW_DIR   _TRISF1

#define BODY_LED   _LATC2

#define BODY_LED_DIR   _TRISC2

#define CAM_DATA   PORTD;

#define CAM_HREF   _RC3

#define CAM_HREF_DIR   _TRISC3

#define CAM_PCLK   _RC14

#define CAM_PCLK_DIR   _TRISC14

#define CAM_PWDN   _RC2

#define CAM_PWDN_DIR   _TRISC2

#define CAM_RESET   _LATC13

#define CAM_RESET_DIR   _TRISC13

#define CAM_VSYNC   _RC4

#define CAM_VSYNC_DIR   _TRISC4

#define CAM_y0   _RD8

#define CAM_y0_DIR   _TRISD8

#define CAM_y1   _RD9

#define CAM_y1_DIR   _TRISD9

#define CAM_y2   _RD10

#define CAM_y2_DIR   _TRISD10

#define CAM_y3   _RD11

#define CAM_y3_DIR   _TRISD11

#define CAM_y4   _RD12

#define CAM_y4_DIR   _TRISD12

#define CAM_y5   _RD13

#define CAM_y5_DIR   _TRISD13

#define CAM_y6   _RD14

#define CAM_y6_DIR   _TRISD14

#define CAM_y7   _RD15

#define CAM_y7_DIR   _TRISD15

 

#define CLRWDT

(

)

{__asm__ volatile ("clrwdt");}

#define FALSE   0

#define FCY   ((FOSC*PLL)/(4.0))

#define FOSC   7.3728e6

#define FRONT_LED   _LATC1

#define FRONT_LED_DIR   _TRISC1

 

#define IDLE

(

)

{__asm__ volatile ("pwrsav #1");}

#define INPUT_PIN   1

#define INTERRUPT_DELAY   (10*TCY_PIC)

 

#define INTERRUPT_OFF

(

)

{__asm__ volatile ("disi #10000");}

 

#define INTERRUPT_ON

(

)

{__asm__ volatile ("disi #2");}

#define IR0   8

#define IR1   9

#define IR2   10

#define IR3   11

#define IR4   12

#define IR5   13

#define IR6   14

#define IR7   15

#define LED0   _LATA6

#define LED0_DIR   _TRISA6

#define LED1   _LATA7

#define LED1_DIR   _TRISA7

#define LED2   _LATA9

#define LED2_DIR   _TRISA9

#define LED3   _LATA12

#define LED3_DIR   _TRISA12

#define LED4   _LATA10

#define LED4_DIR   _TRISA10

#define LED5   _LATA13

#define LED5_DIR   _TRISA13

#define LED6   _LATA14

#define LED6_DIR   _TRISA14

#define LED7   _LATA15

#define LED7_DIR   _TRISA15

#define MIC1   2

#define MIC2   3

#define MIC3   4

#define MICROSEC   (FCY/1.0e6)

#define MILLISEC   (FCY/1.0e3)

#define MOTOR1_PHA   _LATD0

#define MOTOR1_PHA_DIR   _TRISD0

#define MOTOR1_PHB   _LATD1

#define MOTOR1_PHB_DIR   _TRISD1

#define MOTOR1_PHC   _LATD2

#define MOTOR1_PHC_DIR   _TRISD2

#define MOTOR1_PHD   _LATD3

#define MOTOR1_PHD_DIR   _TRISD3

#define MOTOR2_PHA   _LATD4

#define MOTOR2_PHA_DIR   _TRISD4

#define MOTOR2_PHB   _LATD5

#define MOTOR2_PHB_DIR   _TRISD5

#define MOTOR2_PHC   _LATD6

#define MOTOR2_PHC_DIR   _TRISD6

#define MOTOR2_PHD   _LATD7

#define MOTOR2_PHD_DIR   _TRISD7

#define NANOSEC   (FCY/1.0e9)

 

#define NOP

(

)

{__asm__ volatile ("nop");}

#define OUTPUT_PIN   0

#define PLL   8.0

#define PULSE_IR0   _LATF7

#define PULSE_IR0_DIR   _TRISF7

#define PULSE_IR1   _LATF8

#define PULSE_IR1_DIR   _TRISF8

#define PULSE_IR2   _LATG0

#define PULSE_IR2_DIR   _TRISG0

#define PULSE_IR3   _LATG1

#define PULSE_IR3_DIR   _TRISG1

#define REMOTE   _RF6

#define REMOTE_DIR   _TRISF6

 

#define RESET

(

)

{__asm__ volatile ("reset");}

#define SELECTOR0   _RG6

#define SELECTOR0_DIR   _TRISG6

#define SELECTOR1   _RG7

#define SELECTOR1_DIR   _TRISG7

#define SELECTOR2   _RG8

#define SELECTOR2_DIR   _TRISG8

#define SELECTOR3   _RG9

#define SELECTOR3_DIR   _TRISG9

#define SIO_C   _LATG2

#define SIO_C_DIR   _TRISG2

#define SIO_D   _LATG3

#define SIO_D_DIR   _TRISG3

 

#define SLEEP

(

)

{__asm__ volatile ("pwrsav #0");}

#define STOP_TMR1   IEC0bits.T1IE = 0

#define STOP_TMR2   IEC0bits.T2IE = 0

#define STOP_TMR3   IEC0bits.T3IE = 0

#define STOP_TMR4   IEC1bits.T4IE = 0

#define STOP_TMR5   IEC1bits.T5IE = 0

#define TCY_PIC   (1e9/FCY)

#define TRUE   1

---