273 lines
8.3 KiB
C
273 lines
8.3 KiB
C
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/*
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* c't-Sim - Robotersimulator fuer den c't-Bot
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*
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* This program is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General
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* Public License as published by the Free Software
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* Foundation; either version 2 of the License, or (at your
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* option) any later version.
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* This program is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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* You should have received a copy of the GNU General Public
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* License along with this program; if not, write to the Free
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* Software Foundation, Inc., 59 Temple Place, Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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*/
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/*! @file ct-Bot.h
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* @brief Demo-Hauptprogramm
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* @author Benjamin Benz (bbe@heise.de)
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* @date 26.12.05
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*/
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#ifndef CT_BOT_H_DEF
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#define CT_BOT_H_DEF
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#ifndef MMC_LOW_H_
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#include "global.h" // denn in mmc-low.S sind typedefs unerwuenscht
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#endif
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/************************************************************
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* Module switches, to make code smaller if features are not needed
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************************************************************/
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//#define LOG_CTSIM_AVAILABLE /*!< Logging ueber das ct-Sim (PC und MCU) */
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//#define LOG_DISPLAY_AVAILABLE /*!< Logging ueber das LCD-Display (PC und MCU) */
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//#define LOG_UART_AVAILABLE /*!< Logging ueber UART (NUR für MCU) */
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#define LOG_STDOUT_AVAILABLE /*!< Logging auf die Konsole (NUR für PC) */
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#define LED_AVAILABLE /*!< LEDs for local control */
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#define IR_AVAILABLE /*!< Infrared Remote Control */
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#define RC5_AVAILABLE /*!< Key-Mapping for IR-RC */
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#define BOT_2_PC_AVAILABLE /*!< Soll der Bot mit dem PC kommunmizieren? */
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//#define TIME_AVAILABLE /*!< Gibt es eine Systemzeit im s und ms? */
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#define DISPLAY_AVAILABLE /*!< Display for local control */
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#define DISPLAY_REMOTE_AVAILABLE /*!< Sende LCD Anzeigedaten an den Simulator */
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#define DISPLAY_SCREENS_AVAILABLE /*!< Ermoeglicht vier verschiedene Screen */
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//#define DISPLAY_SCREEN_RESETINFO /*!< Zeigt auf Screen 4 Informationen ueber Resets an */
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//#define DISPLAY_ODOMETRIC_INFO /*!< Zeigt auf Screen 4 Positions- und Geschwindigkeitsdaten */
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//#define DISPLAY_REGELUNG_AVAILABLE 3 /*!< Zeigt Reglerdaten auf Screen 4, wenn SPEED_CONTROL_AVAILABLE gesetzt ist*/
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#define DISPLAY_MMC_INFO /*!< Zeigt auf Screen 4 die Daten der MMC-Karte an */
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//#define DISPLAY_BEHAVIOUR_AVAILABLE /*!< Anzeige der Verhalten im Display Screen 3, ersetzt Counteranzeige */
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#define DISPLAY_DYNAMIC_BEHAVIOUR_AVAILABLE /*!< Zustandsaenderungen der Verhalten sind direkt unter Umgehung der Puffervar sichtbar */
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#define MEASURE_MOUSE_AVAILABLE /*!< Geschwindigkeiten werden aus den Maussensordaten berechnet */
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//#define MEASURE_COUPLED_AVAILABLE /*!< Geschwindigkeiten werden aus Maus- und Encoderwerten ermittelt und gekoppelt */
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//#define WELCOME_AVAILABLE /*!< kleiner Willkommensgruss */
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#define ADC_AVAILABLE /*!< A/D-Converter */
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#define MAUS_AVAILABLE /*!< Maus Sensor */
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#define ENA_AVAILABLE /*!< Enable-Leitungen */
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#define SHIFT_AVAILABLE /*!< Shift Register */
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//#define TEST_AVAILABLE_ANALOG /*!< Sollen die LEDs die analoge Sensorwerte anzeigen */
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#define TEST_AVAILABLE_DIGITAL /*!< Sollen die LEDs die digitale Sensorwerte anzeigen */
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//#define TEST_AVAILABLE_MOTOR /*!< Sollen die Motoren ein wenig drehen */
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//#define TEST_AVAILABLE_COUNTER /*!< Gibt einen Endlos-Counter auf Screen 3 aus und aktiviert Screen 3 */
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//#define DOXYGEN /*!< Nur zum Erzeugen der Doku, wenn dieser schalter an ist, jammert der gcc!!! */
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#define BEHAVIOUR_AVAILABLE /*!< Nur wenn dieser Parameter gesetzt ist, exisitiert das Verhaltenssystem */
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#define MAP_AVAILABLE /*!< Aktiviere die Kartographie */
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//#define SPEED_CONTROL_AVAILABLE /*!< Aktiviert die Motorregelung */
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//#define SRF10_AVAILABLE /*!< Ultraschallsensor SRF10 vorhanden */
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#define MMC_AVAILABLE /*!< haben wir eine MMC/SD-Karte zur Verfuegung */
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#define MINI_FAT_AVAILABLE /*!< koennen wir sektoren in FAT-systemen finden */
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//#define MMC_VM_AVAILABLE /*!< Virtual Memory Management mit MMC / SD-Card oder PC-Emulation */
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/************************************************************
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* Some Dependencies!!!
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************************************************************/
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#ifdef DOXYGEN
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#define PC /*!< Beim generieren der Doku alles anschalten */
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#define MCU /*!< Beim generieren der Doku alles anschalten */
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#define TEST_AVAILABLE_MOTOR /*!< Beim generieren der Doku alles anschalten */
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#endif
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#ifndef DISPLAY_AVAILABLE
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#undef WELCOME_AVAILABLE
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#undef DISPLAY_REMOTE_AVAILABLE
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#undef DISPLAY_SCREENS_AVAILABLE
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#undef DISPLAY_SCREEN_RESETINFO
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#endif
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#ifndef IR_AVAILABLE
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#undef RC5_AVAILABLE
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#endif
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#ifndef MAUS_AVAILABLE
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#undef MEASURE_MOUSE_AVAILABLE
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#undef MEASURE_COUPLED_AVAILABLE
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#endif
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#ifdef PC
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#ifndef DOXYGEN
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#undef UART_AVAILABLE
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#undef BOT_2_PC_AVAILABLE
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#undef SRF10_AVAILABLE
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#undef TWI_AVAILABLE
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#undef SPEED_CONTROL_AVAILABLE // Deaktiviere die Motorregelung
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#undef MMC_AVAILABLE
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#endif
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#define COMMAND_AVAILABLE /*!< High-Level Communication */
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#undef DISPLAY_SCREEN_RESETINFO
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#undef TEST_AVAILABLE_COUNTER
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#endif
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#ifdef MCU
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#ifdef LOG_CTSIM_AVAILABLE
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#define BOT_2_PC_AVAILABLE
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#endif
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#ifdef BOT_2_PC_AVAILABLE
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#define UART_AVAILABLE /*!< Serial Communication */
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#define COMMAND_AVAILABLE /*!< High-Level Communication */
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#endif
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// #undef MAP_AVAILABLE
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#endif
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#ifdef TEST_AVAILABLE_MOTOR
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#define TEST_AVAILABLE /*!< brauchen wir den Testkrams */
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#define TEST_AVAILABLE_DIGITAL /*!< Sollen die LEDs die digitale Sensorwerte anzeigen */
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#endif
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#ifdef TEST_AVAILABLE_DIGITAL
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#define TEST_AVAILABLE /*!< brauchen wir den Testkrams */
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#undef TEST_AVAILABLE_ANALOG
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#endif
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#ifdef TEST_AVAILABLE_ANALOG
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#define TEST_AVAILABLE /*!< brauchen wir den Testkrams */
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#endif
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#ifdef TEST_AVAILABLE_COUNTER
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#define TEST_AVAILABLE /*!< brauchen wir den Testkrams */
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#define DISPLAY_SCREENS_AVAILABLE
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#define DISPLAY_SCREEN_RESETINFO
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#endif
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#ifdef DISPLAY_ODOMETRIC_INFO
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#undef DISPLAY_SCREEN_RESETINFO /*!< Wenn Odometrieinfos, dann keine Resetinfos */
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#endif
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#ifndef SPEED_CONTROL_AVAILABLE
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#undef DISPLAY_REGELUNG_AVAILABLE
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#endif
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#ifdef LOG_UART_AVAILABLE
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#define LOG_AVAILABLE
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#endif
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#ifdef LOG_CTSIM_AVAILABLE
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#define LOG_AVAILABLE
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#endif
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#ifdef LOG_DISPLAY_AVAILABLE
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#define LOG_AVAILABLE
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#endif
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#ifdef LOG_STDOUT_AVAILABLE
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#define LOG_AVAILABLE
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#endif
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#ifndef MMC_AVAILABLE
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#undef MINI_FAT_AVAILABLE
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#ifdef MCU
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#undef MMC_VM_AVAILABLE
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#endif
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#endif
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#ifdef LOG_AVAILABLE
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#ifdef PC
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/* Auf dem PC gibts kein Logging ueber UART. */
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#undef LOG_UART_AVAILABLE
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#endif
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#ifdef MCU
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/* Mit Bot zu PC Kommunikation auf dem MCU gibts kein Logging ueber UART.
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* Ohne gibts keine Kommunikation ueber ct-Sim.
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*/
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#undef LOG_STDOUT_AVAILABLE /*!< MCU hat kein STDOUT */
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#ifdef BOT_2_PC_AVAILABLE
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#undef LOG_UART_AVAILABLE
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#else
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#undef LOG_CTSIM_AVAILABLE
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#endif
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#endif
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/* Ohne Display gibts auch keine Ausgaben auf diesem. */
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#ifndef DISPLAY_AVAILABLE
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#undef LOG_DISPLAY_AVAILABLE
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#endif
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/* Logging aufs Display ist nur moeglich, wenn mehrere Screens
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* unterstuetzt werden.
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*/
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#ifndef DISPLAY_SCREENS_AVAILABLE
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#undef LOG_DISPLAY_AVAILABLE
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#endif
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/* Es kann immer nur ueber eine Schnittstelle geloggt werden. */
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#ifdef LOG_UART_AVAILABLE
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#define UART_AVAILABLE
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#undef LOG_CTSIM_AVAILABLE
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#undef LOG_DISPLAY_AVAILABLE
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#undef LOG_STDOUT_AVAILABLE
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#endif
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#ifdef LOG_CTSIM_AVAILABLE
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#undef LOG_DISPLAY_AVAILABLE
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#undef LOG_STDOUT_AVAILABLE
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#endif
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#ifdef LOG_DISPLAY_AVAILABLE
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#undef LOG_STDOUT_AVAILABLE
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#endif
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// Wenn keine sinnvolle Log-Option mehr uebrig, loggen wir auch nicht
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#ifndef LOG_CTSIM_AVAILABLE
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#ifndef LOG_DISPLAY_AVAILABLE
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#ifndef LOG_UART_AVAILABLE
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#ifndef LOG_STDOUT_AVAILABLE
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#undef LOG_AVAILABLE
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#endif
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#endif
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#endif
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#endif
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#endif
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#ifdef SRF10_AVAILABLE
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#define TWI_AVAILABLE /*!< TWI-Schnittstelle (I2C) nutzen */
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#endif
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#define F_CPU 16000000L /*!< Crystal frequency in Hz */
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#define XTAL F_CPU /*!< Crystal frequency in Hz */
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#define LINE_FEED "\n\r" /*!< Windows und Linux unterscheiden beim Linefeed. Windows erwarten \n\r, Linux nur \n */
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#ifdef MCU
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#ifndef MMC_LOW_H_
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#include <avr/interrupt.h>
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#endif
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#ifdef SIGNAL
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#define NEW_AVR_LIB
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#endif
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#endif
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#endif
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