hvwdefines.h

Asuro 小车示例代码Remote controlled

#define FWD_RGT_N PB5_L
#define FWD_RGT_P PB5_H
#define REV_RGT_N PB4_L
#define REV_RGT_P PB4_H
#define IR_TXD1_N PB3_L
#define IR_TXD1_P PB3_H
#define SPD_RGT_N PB2_L
#define SPD_RGT_P PB2_H
#define SPD_LFT_N PB1_L
#define SPD_LFT_P PB1_H
#define SLD_GRN_N PB0_L
#define SLD_GRN_P PB0_H

#define	OC2_I			PB3_L
#define	OC2_O			PB3_H
#define	OC1B_L		PB2_L
#define	OC1B_H		PB2_H
#define	OC1A_L		PB1_L
#define	OC1A_H		PB1_H

//PORTC
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|  PC7  |  PC6  |  PC5  |  PC4  |  PC3  |  PC2  |  PC1  |  PC0  | port name
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|   7   |   6   |   5 	|   4   |   3   |    2  |    1  |   0   | bit number
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|   -   |   1   |  28   |  27   |  26   |   25  |   24  |  23   | pin number
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|   -   | RESET |VPL_SNS|SWI_JNC|TRS_LFT|TRS_RGT|BOD_LFT|BOD_RGT| signal name (hvw)
//+-------+-------+-------+-------+-------+-------+-------+-------+
#define	PC7_L			(0x80<<8)
#define	PC7_H			(0x80)
#define	PC6_L			(0x40<<8)
#define	PC6_H			(0x40)
#define	PC5_L			(0x20<<8)
#define	PC5_H			(0x20)
#define	PC4_L			(0x10<<8)
#define	PC4_H			(0x10)
#define	PC3_L			(0x08<<8)
#define	PC3_H			(0x08)
#define	PC2_L			(0x04<<8)
#define	PC2_H			(0x04)
#define	PC1_L			(0x02<<8)
#define	PC1_H			(0x02)
#define	PC0_L			(0x01<<8)
#define	PC0_H			(0x01)

#define PC7_I     PC7_L
#define PC7_O     PC7_H
#define PC6_I     PC6_L
#define PC6_O     PC6_H
#define PC5_I     PC5_L
#define PC5_O     PC5_H
#define PC4_I     PC4_L
#define PC4_O     PC4_H
#define PC3_I     PC3_L
#define PC3_O     PC3_H
#define PC2_I     PC2_L
#define PC2_O     PC2_H
#define PC1_I     PC1_L
#define PC1_O     PC1_H
#define PC0_I     PC0_L
#define PC0_O     PC0_H

#define VPL_SNS_L PC5_L
#define VPL_SNS_H PC5_H
#define SWI_JNC_L PC4_L
#define SWI_JNC_H PC4_H
#define TRS_LFT_L PC3_L
#define TRS_LFT_H PC3_H
#define TRS_RGT_L PC2_L
#define TRS_RGT_H PC2_H
#define BOD_LFT_L PC1_L
#define BOD_LFT_H PC1_H
#define BOD_RGT_L PC0_L
#define BOD_RGT_H PC0_H

#define VPL_SNS_I PC5_L
#define VPL_SNS_O PC5_H
#define SWI_JNC_I PC4_L
#define SWI_JNC_O PC4_H
#define TRS_LFT_I PC3_L
#define TRS_LFT_O PC3_H
#define TRS_RGT_I PC2_L
#define TRS_RGT_O PC2_H
#define BOD_LFT_I PC1_L
#define BOD_LFT_O PC1_H
#define BOD_RGT_I PC0_L
#define BOD_RGT_O PC0_H

#define VPL_SNS_N PC5_L
#define VPL_SNS_P PC5_H
#define SWI_JNC_N PC4_L
#define SWI_JNC_P PC4_H
#define TRS_LFT_N PC3_L
#define TRS_LFT_P PC3_H
#define TRS_RGT_N PC2_L
#define TRS_RGT_P PC2_H
#define BOD_LFT_N PC1_L
#define BOD_LFT_P PC1_H
#define BOD_RGT_N PC0_L
#define BOD_RGT_P PC0_H




/*
#define VPS_L			(0x20<<8)
#define VPS_H			(0x20)
#define SWS_L			(0x10<<8)
#define SWS_H			(0x10)
#define TSL_L			(0x08<<8)
#define TSL_H			(0x08)
#define TSR_L			(0x04<<8)
#define TSR_H			(0x04)
#define OML_L			(0x02<<8)		//low
#define OML_H			(0x02)			//high
#define OML_I			OML_L				//input
#define OML_O			OML_H				//output
#define OML_N			OML_L				//no pull_up
#define OML_P			OML_H				//pull_up
#define OMR_L			(0x01<<8)
#define OMR_H			(0x01)
#define OMR_I			OMR_L
#define OMR_O			OMR_H
#define OMR_N			OMR_L
#define OMR_P			OMR_H
*/
/*
//PORTD
#define OMD_L			(0x80<<8)			//odo meter driver
#define OMD_H			(0x80)
#define OMD_I			OMD_L
#define OMD_O			OMD_H
#define	TLD_L			(0x40<<8)			//tracking light driver
#define	TLD_H			(0x40)	
#define	TLD_I			TLD_L
#define	TLD_O			TLD_H
#define	TLD_N			TLD_L
#define	TLD_P			TLD_H
#define	SLR_L			(0x04<<8)			//system led red
#define	SLR_H			(0x04)
*/
//PORTD
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|  PD7  |  PD6  |  PD5  |  PD4  |  PD3  |  PD2  |  PD1  |  PD0  | port name
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|   7   |   6   |   5 	|   4   |   3   |    2  |    1  |   0   | bit number
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|  13   |  12   |  11   |   6   |   5   |    4  |    3  |   2   | pin number
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|ODO_LDS|FRT_LED|FWD_LFT|REV_LFT|SWITCH |SLD_RED|IR_TXD2|IR_RXD | signal name (hvw)
//+-------+-------+-------+-------+-------+-------+-------+-------+
#define	PD7_L			(0x80<<8)
#define	PD7_H			(0x80)
#define	PD6_L			(0x40<<8)
#define	PD6_H			(0x40)
#define	PD5_L			(0x20<<8)
#define	PD5_H			(0x20)
#define	PD4_L			(0x10<<8)
#define	PD4_H			(0x10)
#define	PD3_L			(0x08<<8)
#define	PD3_H			(0x08)
#define	PD2_L			(0x04<<8)
#define	PD2_H			(0x04)
#define	PD1_L			(0x02<<8)
#define	PD1_H			(0x02)
#define	PD0_L			(0x01<<8)
#define	PD0_H			(0x01)

#define PD7_I     PD7_L
#define PD7_O     PD7_H
#define PD6_I     PD6_L
#define PD6_O     PD6_H
#define PD5_I     PD5_L
#define PD5_O     PD5_H
#define PD4_I     PD4_L
#define PD4_O     PD4_H
#define PD3_I     PD3_L
#define PD3_O     PD3_H
#define PD2_I     PD2_L
#define PD2_O     PD2_H
#define PD1_I     PD1_L
#define PD1_O     PD1_H
#define PD0_I     PD0_L
#define PD0_O     PD0_H

#define ODO_LDS_L PD7_L
#define ODO_LDS_H PD7_H
#define FRT_LED_L PD6_L
#define FRT_LED_H PD6_H
#define FWD_LFT_L PD5_L
#define FWD_LFT_H PD5_H
#define REV_LFT_L PD4_L
#define REV_LFT_H PD4_H
#define SWI_INT_L PD3_L
#define SWI_INT_H PD3_H
#define SLD_RED_L PD2_L
#define SLD_RED_H PD2_H
#define IR_TXD2_L PD1_L
#define IR_TXD2_H PD1_H
#define IR_RXD_L  PD0_L
#define IR_RXD_H  PD0_H

#define ODO_LDS_I PD7_L
#define ODO_LDS_O PD7_H
#define FRT_LED_I PD6_L
#define FRT_LED_O PD6_H
#define FWD_LFT_I PD5_L
#define FWD_LFT_O PD5_H
#define REV_LFT_I PD4_L
#define REV_LFT_O PD4_H
#define SWI_INT_I PD3_L
#define SWI_INT_O PD3_H
#define SLD_RED_I PD2_L
#define SLD_RED_O PD2_H
#define IR_TXD2_I PD1_L
#define IR_TXD2_O PD1_H
#define IR_RXD_I  PD0_L
#define IR_RXD_O  PD0_H

#define ODO_LDS_N PD7_L
#define ODO_LDS_P PD7_H
#define FRT_LED_N PD6_L
#define FRT_LED_P PD6_H
#define FWD_LFT_N PD5_L
#define FWD_LFT_P PD5_H
#define REV_LFT_N PD4_L
#define REV_LFT_P PD4_H
#define SWI_INT_N PD3_L
#define SWI_INT_P PD3_H
#define SLD_RED_N PD2_L
#define SLD_RED_P PD2_H
#define IR_TXD2_N PD1_L
#define IR_TXD2_P PD1_H
#define IR_RXD_N  PD0_L
#define IR_RXD_P  PD0_H


#define BIT_RATE_2400_BAUD     207
#define BIT_RATE_4800_BAUD     103
#define BIT_RATE_9600_BAUD     51
#define BIT_RATE_14400_BAUD    34
#define BIT_RATE_19200_BAUD    25
#define BIT_RATE_28800_BAUD    16
#define BIT_RATE_38400_BAUD    12
#define BIT_RATE_57600_BAUD    8
#define BIT_RATE_76800_BAUD    6
#define BIT_RATE_115200_BAUD   3
#define BIT_RATE_230400_BAUD   1
#define BIT_RATE_250000_BAUD   1
#define BIT_RATE_500000_BAUD   0

//PIND  Remember: reading normal pin status use PIND not PORTD
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|  PD7  |  PD6  |  PD5  |  PD4  |  PD3  |  PD2  |  PD1  |  PD0  | port name
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|   7   |   6   |   5 	|   4   |   3   |    2  |    1  |   0   | bit number
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|  13   |  12   |  11   |   6   |   5   |    4  |    3  |   2   | pin number
//+-------+-------+-------+-------+-------+-------+-------+-------+
//|ODO_LDS|FRT_LED|FWD_LFT|REV_LFT|SWITCH |SLD_RED|IR_TXD2|IR_RXD | signal name (hvw)
//+-------+-------+-------+-------+-------+-------+-------+-------+
#define PIND7_L     PD7_L
#define PIND7_H     PD7_H
#define PIND6_L     PD6_L
#define PIND6_H     PD6_H
#define PIND5_L     PD5_L
#define PIND5_H     PD5_H
#define PIND4_L     PD4_L
#define PIND4_H     PD4_H
#define PIND3_L     PD3_L
#define PIND3_H     PD3_H
#define PIND2_L     PD2_L
#define PIND2_H     PD2_H
#define PIND1_L     PD1_L
#define PIND1_H     PD1_H
#define PIND0_L     PD0_L
#define PIND0_H     PD0_H



#define SFR_LEFT_ENGINE_SPEED OCR1A
#define SFR_RGHT_ENGINE_SPEED OCR1B


//Set and Clear Special Function Register bits
#define SFRX(Sfr,Msk) (Sfr=(Sfr&~((Msk)>>8))|(Msk))
//Write Special Function Register byte
#define SFRW(Sfr,Msk) (Sfr=(Msk))

//Test on mask bits 1 being set and mask bits 0 being cleared
//	(Msk)>>8)				=> shift 'clr' mask 8 bits to the right
//	| ((Msk)&0xFF) 	=> 'Or' shifted 'clr' mask with 'set' mask: now all 'clr' and 'set' bits are set to '1'
//  & Sfr						=> Retrieve all 'clr' and 'set' bits from Sfr
//  ^((Msk&0xFF))		=> Get 'set' bitmask, force all 'set' masked '1' bits from Sfr to go '0', leaving errornous bits resulting as '1'
//  !               => invert (any '1' bit is error = boolean pass) to (any '1' bit is error = boolean fail)
#define SFRQ(Sfr,Msk)  (!((((((Msk)>>8)|((Msk)&0xFF)) ) & Sfr)^((Msk)&0xFF))) //werkt!	


//================================================================================


//#define SFRQ(Sfr,Msk)     (((Msk)^Sfr) | ((~((Msk)>>8))&Sfr))

#define	SET_FRONT_LED_OUTPUT			(SFRX(DDRD, FRT_LED_O))
#define	SET_FRONT_LED_ON					(SFRX(PORTD,FRT_LED_H))
#define	SET_FRONT_LED_OFF					(SFRX(PORTD,FRT_LED_L))
#define CHK_FRONT_LED_ON					(SFRT(PORTD,FRT_LED_H))

#define SET_LEFT_BRAKE_LED_ON		  (SFRX(PORTC,BOD_LFT_H))
#define SET_LEFT_BRAKE_LED_OFF	  (SFRX(PORTC,BOD_LFT_L))
#define SET_RGHT_BRAKE_LED_ON		  (SFRX(PORTC,BOD_RGT_H))
#define SET_RGHT_BRAKE_LED_OFF	  (SFRX(PORTC,BOD_RGT_L))

#define CHK_LEFT_BRAKE_LED_ON			(SFRT(PORTC,BOD_LFT_H))
#define CHK_LEFT_BRAKE_LED_OFF		(!SFRT(PORTC,BOD_LFT_H))
#define CHK_RGHT_BRAKE_LED_ON			(SFRT(PORTC,BOD_RGT_H))
#define CHK_RGHT_BRAKE_LED_OFF		(!SFRT(PORTC,BOD_RGT_H))

#define	SFR_TST(Sfr,Msk)	(Sfr&Msk)
#define	SFRT(Sfr,Msk)	(Sfr&Msk)

#define	TST_FRONT_LED_ON	(SFR_TST(PORTD,PD6_H))


//Set and Clear Bits in Byte
#define BYTE_BIT(Byt,Bit) (Byt=(Byt&~((Bit)>>8))|(Bit))


#define SET_BYTE_BITS(Byt,Bit) (Byt=(Byt|Bit))
#define SET_BYTE_BIT(Byt,Bit) (Byt=(Byt|Bit))
#define CLR_BYTE_BITS(Byt,Bit) (Byt=(Byt&~(Bit)))
#define CLR_BYTE_BIT(Byt,Bit) (Byt=(Byt&~(Bit)))
#define CHK_BYTE_BIT_SET(Byt,Bit) (Byt&Bit)
#define CHK_BYTE_BIT_CLR(Byt,Bit) (~(Byt&Bit))	// Byt&(Bit) selects bit, 


#define byte unsigned char


#define SFR_ADMUX_MUX_ADC_LEFT_TRACK_SENSOR (MUX2_H|MUX1_H)	//mux3
#define SFR_ADMUX_MUX_ADC_RGHT_TRACK_SENSOR (MUX1_H)				//mux2


#define SET_LEFT_ENGINE_DIRECTION_TO_FORWARD SFRX(PORTD,PD4_L|PD5_H)
#define SET_LEFT_ENGINE_DIRECTION_TO_REVERSE SFRX(PORTD,PD4_H|PD5_L)
#define SET_RGHT_ENGINE_DIRECTION_TO_FORWARD SFRX(PORTB,PB4_L|PB5_H)
#define SET_RGHT_ENGINE_DIRECTION_TO_REVERSE SFRX(PORTB,PB4_H|PB5_L)
#define SET_LEFT_ENGINE_SPEED(LftEngSpd) (OCR1A=LftEngSpd)
#define SET_RGHT_ENGINE_SPEED(RgtEngSpd) (OCR1B=RgtEngSpd)



#endif //_MY_DEFINES_H_