/******************************************************************************** * FILE NAME: ifi_aliases.h * * DESCRIPTION: * This file contains common macros (known as aliases in PBASIC) for the * I/O pins of the Robot Controller and elements in the data sent between the * User processor and the Master processor. * * If you want to create your own macros, do so in the designated section of * the user_routines.h file. * * DO NOT EDIT THIS FILE! ********************************************************************************/ #ifndef __ifi_aliases_h_ #define __ifi_aliases_h_ #include /* PWM Type Definitions used in Setup_PWM_Output_Type(...) */ #define IFI_PWM 0 /* Standard IFI PWM output generated with Generate_PWM(...) */ #define USER_CCP 1 /* User can use PWM pin as digital I/O or CCP pin. */ /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for each OI analog input --------------------------------------------------------- *----------------------------------------------------------------------------------------------------- * Below are aliases for the analog inputs located on the Operator Interface. */ #define p1_y rxdata.oi_analog01 #define p2_y rxdata.oi_analog02 #define p3_y rxdata.oi_analog03 #define p4_y rxdata.oi_analog04 #define p1_x rxdata.oi_analog05 #define p2_x rxdata.oi_analog06 #define p3_x rxdata.oi_analog07 #define p4_x rxdata.oi_analog08 #define p1_wheel rxdata.oi_analog09 #define p2_wheel rxdata.oi_analog10 #define p3_wheel rxdata.oi_analog11 #define p4_wheel rxdata.oi_analog12 #define p1_aux rxdata.oi_analog13 #define p2_aux rxdata.oi_analog14 #define p3_aux rxdata.oi_analog15 #define p4_aux rxdata.oi_analog16 /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for each OI switch input --------------------------------------------------------- *----------------------------------------------------------------------------------------------------- * Below are aliases for the digital inputs located on the Operator Interface. * Ports 1 & 3 have their inputs duplicated in ports 4 & 2 respectively. The * inputs from ports 1 & 3 may be disabled via the 'Disable' dip switch * located on the Operator Interface. See Users Manual for details. */ #define p1_sw_trig rxdata.oi_swA_byte.bitselect.bit0 /* Joystick Trigger Button, same as Port4 pin5 */ #define p1_sw_top rxdata.oi_swA_byte.bitselect.bit1 /* Joystick Top Button, same as Port4 pin8 */ #define p1_sw_aux1 rxdata.oi_swA_byte.bitselect.bit2 /* Aux input, same as Port4 pin9 */ #define p1_sw_aux2 rxdata.oi_swA_byte.bitselect.bit3 /* Aux input, same as Port4 pin15*/ #define p3_sw_trig rxdata.oi_swA_byte.bitselect.bit4 /* Joystick Trigger Button, same as Port2 pin5 */ #define p3_sw_top rxdata.oi_swA_byte.bitselect.bit5 /* Joystick Top Button, same as Port2 pin8 */ #define p3_sw_aux1 rxdata.oi_swA_byte.bitselect.bit6 /* Aux input, same as Port2 pin9 */ #define p3_sw_aux2 rxdata.oi_swA_byte.bitselect.bit7 /* Aux input, same as Port2 pin15*/ #define p2_sw_trig rxdata.oi_swB_byte.bitselect.bit0 /* Joystick Trigger Button*/ #define p2_sw_top rxdata.oi_swB_byte.bitselect.bit1 /* Joystick Top Button*/ #define p2_sw_aux1 rxdata.oi_swB_byte.bitselect.bit2 /* Aux input*/ #define p2_sw_aux2 rxdata.oi_swB_byte.bitselect.bit3 /* Aux input*/ #define p4_sw_trig rxdata.oi_swB_byte.bitselect.bit4 /* Joystick Trigger Button*/ #define p4_sw_top rxdata.oi_swB_byte.bitselect.bit5 /* Joystick Top Button*/ #define p4_sw_aux1 rxdata.oi_swB_byte.bitselect.bit6 /* Aux input*/ #define p4_sw_aux2 rxdata.oi_swB_byte.bitselect.bit7 /* Aux input*/ /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for DIGITAL IN/OUT connectors ---------------------------------------------------- *----------------------------------------------------------------------------------------------------- * Below are aliases for the digital I/O located on the Robot Controller. * They can be configured to be either Inputs or Outputs. */ #define INPUT 1 #define OUTPUT 0 /* Used in User_Initialization routine in user_routines.c file. */ /* Used to set pins as digital INPUTS or digital OUTPUTS. */ #define digital_io_01 TRISBbits.TRISB2 #define digital_io_02 TRISBbits.TRISB3 #define digital_io_03 TRISBbits.TRISB4 #define digital_io_04 TRISBbits.TRISB5 #define digital_io_05 TRISBbits.TRISB6 #define digital_io_06 TRISBbits.TRISB7 #define digital_io_07 TRISHbits.TRISH0 #define digital_io_08 TRISHbits.TRISH1 #define digital_io_09 TRISHbits.TRISH2 #define digital_io_10 TRISHbits.TRISH3 #define digital_io_11 TRISJbits.TRISJ1 #define digital_io_12 TRISJbits.TRISJ2 #define digital_io_13 TRISJbits.TRISJ3 #define digital_io_14 TRISCbits.TRISC0 #define digital_io_15 TRISJbits.TRISJ4 #define digital_io_16 TRISJbits.TRISJ5 #define digital_io_17 TRISJbits.TRISJ6 #define digital_io_18 TRISJbits.TRISJ7 /* Aliases used to read the pins when used as INPUTS. */ #define rc_dig_in01 PORTBbits.RB2 /* external interrupt RB2/INT2 */ #define rc_dig_in02 PORTBbits.RB3 /* external interrupt RB3/INT3 */ #define rc_dig_in03 PORTBbits.RB4 /* external interrupt-on-change RB4 */ #define rc_dig_in04 PORTBbits.RB5 /* external interrupt-on-change RB5 */ #define rc_dig_in05 PORTBbits.RB6 /* external interrupt-on-change RB6 */ #define rc_dig_in06 PORTBbits.RB7 /* external interrupt-on-change RB7 */ #define rc_dig_in07 PORTHbits.RH0 #define rc_dig_in08 PORTHbits.RH1 #define rc_dig_in09 PORTHbits.RH2 #define rc_dig_in10 PORTHbits.RH3 #define rc_dig_in11 PORTJbits.RJ1 #define rc_dig_in12 PORTJbits.RJ2 #define rc_dig_in13 PORTJbits.RJ3 #define rc_dig_in14 PORTCbits.RC0 #define rc_dig_in15 PORTJbits.RJ4 #define rc_dig_in16 PORTJbits.RJ5 #define rc_dig_in17 PORTJbits.RJ6 #define rc_dig_in18 PORTJbits.RJ7 /* Aliases used to drive the pins when used as OUTPUTS. */ #define rc_dig_out01 LATBbits.LATB2 #define rc_dig_out02 LATBbits.LATB3 #define rc_dig_out03 LATBbits.LATB4 #define rc_dig_out04 LATBbits.LATB5 #define rc_dig_out05 LATBbits.LATB6 #define rc_dig_out06 LATBbits.LATB7 #define rc_dig_out07 LATHbits.LATH0 #define rc_dig_out08 LATHbits.LATH1 #define rc_dig_out09 LATHbits.LATH2 #define rc_dig_out10 LATHbits.LATH3 #define rc_dig_out11 LATJbits.LATJ1 #define rc_dig_out12 LATJbits.LATJ2 #define rc_dig_out13 LATJbits.LATJ3 #define rc_dig_out14 LATCbits.LATC0 #define rc_dig_out15 LATJbits.LATJ4 #define rc_dig_out16 LATJbits.LATJ5 #define rc_dig_out17 LATJbits.LATJ6 #define rc_dig_out18 LATJbits.LATJ7 /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for PWM OUTPUTS ------------------------------------------------------------------ *----------------------------------------------------------------------------------------------------- * Below are aliases for the PWM OUTPUTS located on the Robot Controller. */ #define pwm01 txdata.rc_pwm01 #define pwm02 txdata.rc_pwm02 #define pwm03 txdata.rc_pwm03 #define pwm04 txdata.rc_pwm04 #define pwm05 txdata.rc_pwm05 #define pwm06 txdata.rc_pwm06 #define pwm07 txdata.rc_pwm07 #define pwm08 txdata.rc_pwm08 #define pwm09 txdata.rc_pwm09 #define pwm10 txdata.rc_pwm10 #define pwm11 txdata.rc_pwm11 #define pwm12 txdata.rc_pwm12 #define pwm13 txdata.rc_pwm13 #define pwm14 txdata.rc_pwm14 #define pwm15 txdata.rc_pwm15 #define pwm16 txdata.rc_pwm16 /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for RELAY OUTPUTS connectors ---------------------------------------------------- *----------------------------------------------------------------------------------------------------- * Below are aliases for the relay outputs located on the Robot Controller. * NOTE: The REV/FWD labels on the 2004 Full-size Robot Controllers are swapped. */ #define relay1_fwd LATEbits.LATE0 #define relay1_rev LATDbits.LATD0 #define relay2_fwd LATEbits.LATE1 #define relay2_rev LATDbits.LATD1 #define relay3_fwd LATEbits.LATE2 #define relay3_rev LATDbits.LATD2 #define relay4_fwd LATEbits.LATE3 #define relay4_rev LATDbits.LATD3 #define relay5_fwd LATEbits.LATE4 #define relay5_rev LATDbits.LATD4 #define relay6_fwd LATEbits.LATE5 #define relay6_rev LATDbits.LATD5 #define relay7_fwd LATEbits.LATE6 #define relay7_rev LATDbits.LATD6 #define relay8_fwd LATJbits.LATJ0 #define relay8_rev LATDbits.LATD7 /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for ANALOG INPUTS connectors ----------------------------------------------------- *----------------------------------------------------------------------------------------------------- * Below are aliases for reading an analog voltage on the ANALOG INPUTS * using the Get_Analog_Value() function. */ #define rc_ana_in01 ADC_CH0 #define rc_ana_in02 ADC_CH1 #define rc_ana_in03 ADC_CH2 #define rc_ana_in04 ADC_CH3 #define rc_ana_in05 ADC_CH4 #define rc_ana_in06 ADC_CH5 #define rc_ana_in07 ADC_CH6 #define rc_ana_in08 ADC_CH7 #define rc_ana_in09 ADC_CH8 #define rc_ana_in10 ADC_CH9 #define rc_ana_in11 ADC_CH10 #define rc_ana_in12 ADC_CH11 #define rc_ana_in13 ADC_CH12 #define rc_ana_in14 ADC_CH13 #define rc_ana_in15 ADC_CH14 #define rc_ana_in16 ADC_CH15 #define SIXTEEN_ANALOG ADC_16ANA /* All analog */ /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for the ROBOT FEEDBACK LEDs ------------------------------------------------------ *----------------------------------------------------------------------------------------------------- * Below are aliases for the ROBOT FEEDBACK LEDs located on the Operator Interface. */ #define User_Mode_byte txdata.LED_byte1.data #define Pwm1_green txdata.LED_byte1.bitselect.bit0 #define Pwm1_red txdata.LED_byte1.bitselect.bit1 #define Pwm2_green txdata.LED_byte1.bitselect.bit2 #define Pwm2_red txdata.LED_byte1.bitselect.bit3 #define Relay1_red txdata.LED_byte1.bitselect.bit4 #define Relay1_green txdata.LED_byte1.bitselect.bit5 #define Relay2_red txdata.LED_byte1.bitselect.bit6 #define Relay2_green txdata.LED_byte1.bitselect.bit7 #define Switch1_LED txdata.LED_byte2.bitselect.bit0 #define Switch2_LED txdata.LED_byte2.bitselect.bit1 #define Switch3_LED txdata.LED_byte2.bitselect.bit2 #define User_Byte1 txdata.user_byte1.allbits #define User_Byte2 txdata.user_byte2.allbits #define User_Byte3 txdata.user_byte3 /* This byte is now used for breaker panel byte 3 */ #define User_Byte4 txdata.user_byte4 /* This byte is now used for breaker panel byte 4 */ #define User_Byte5 txdata.user_byte5 /* This byte is now used for breaker panel byte 5 */ #define User_Byte6 txdata.user_byte6 /* This byte is now used for breaker panel byte 6 */ /* *------------------------------------------------------------------------------- *---------- Aliases for CCP pins (PWM OUTPUTS 13-16 connectors) ---------------- *------------------------------------------------------------------------------- * Below are aliases for the four PWM OUTPUT pins which can be configured for * use as digital outputs by setting them to USER_CCP type. * They are CCP pins with special Compare and PWM features as detailed in the * PIC18FXX20 Data Sheet on page 149. They have output buffers which make it * impossible to use them as inputs, so they cannot be used in Capture mode. * * The pin mapping is as follows: * PWM OUT 13 -> CCP2 * PWM OUT 14 -> CCP3 * PWM OUT 15 -> CCP4 * PWM OUT 16 -> CCP5 */ /* To set the direction (INPUT or OUTPUT) of the pins you use these aliases. */ #define IO_CCP2 TRISEbits.TRISE7 #define IO_CCP3 TRISGbits.TRISG0 #define IO_CCP4 TRISGbits.TRISG3 #define IO_CCP5 TRISGbits.TRISG4 /* When using them as inputs you read the values with these aliases. */ #define IN_CCP2 PORTEbits.RE7 #define IN_CCP3 PORTGbits.RG0 #define IN_CCP4 PORTGbits.RG3 #define IN_CCP5 PORTGbits.RG4 /* When using them as outputs you drive a value with these aliases. */ #define OUT_CCP2 LATEbits.LATE7 #define OUT_CCP3 LATGbits.LATG0 #define OUT_CCP4 LATGbits.LATG3 #define OUT_CCP5 LATGbits.LATG4 /* *------------------------------------------------------------------------------- *---------- Aliases for TTL connectors (serial port 2) ------------------------- *------------------------------------------------------------------------------- * Below are aliases for the second serial port (USART2) pins labeled TTL. */ #define usart2_TX LATGbits.LATG1 #define usart2_RX PORTGbits.RG2 /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for Battery Voltage bytes -------------------------------------------------------- *----------------------------------------------------------------------------------------------------- * Formula to calculate voltage in volts: * current_voltage = battery_voltage * 0.038 + 0.05; */ #define battery_voltage rxdata.rc_main_batt*15.64/256 #define backup_voltage rxdata.rc_backup_batt*15.64/256 /* *----------------------------------------------------------------------------------------------------- *---------- Aliases for User Modes ------------------------------------------------------------------ *----------------------------------------------------------------------------------------------------- * These bits tell you what mode your robot is currently in. * 1 = in mode; 0 = not in mode */ #define user_display_mode rxdata.rc_mode_byte.mode.user_display #define autonomous_mode rxdata.rc_mode_byte.mode.autonomous #define disabled_mode rxdata.rc_mode_byte.mode.disabled #endif /*---------------------------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------------------------------*/