/******************************************************************************* * FILE NAME: ifi_default.h * * DESCRIPTION: * This file contains important data definitions. * * DO NOT EDIT THIS FILE! *******************************************************************************/ #ifndef __ifi_default_h_ #define __ifi_default_h_ #include #define UNCHANGEABLE_DEFINITION_AREA 1 #ifdef UNCHANGEABLE_DEFINITION_AREA /******************************************************************************* ALIAS DEFINITIONS *******************************************************************************/ /* DO NOT CHANGE! */ #define DATA_SIZE 30 #define SPI_TRAILER_SIZE 2 #define SPI_XFER_SIZE DATA_SIZE + SPI_TRAILER_SIZE #define FALSE 0 #define TRUE !FALSE #ifdef _SIMULATOR #define RESET_VECTOR 0x000 #define HIGH_INT_VECTOR 0x008 #define LOW_INT_VECTOR 0x018 #else #define RESET_VECTOR 0x800 #define HIGH_INT_VECTOR 0x808 #define LOW_INT_VECTOR 0x818 #endif /******************************************************************************* VARIABLE DECLARATIONS *******************************************************************************/ /* DO NOT CHANGE! */ /* This structure contains important system status information. */ typedef struct { unsigned int :5; unsigned int user_display:1; /* User display enabled = 1, disabled = 0 */ unsigned int autonomous:1; /* Autonomous enabled = 1, disabled = 0 */ unsigned int disabled:1; /* Robot disabled = 1, enabled = 0 */ } modebits; /******************************************************************************/ /* DO NOT CHANGE! */ /* This structure allows you to address specific bits of a byte.*/ typedef struct { unsigned int bit0:1; unsigned int bit1:1; unsigned int bit2:1; unsigned int bit3:1; unsigned int bit4:1; unsigned int bit5:1; unsigned int bit6:1; unsigned int bit7:1; } bitid; /******************************************************************************/ /* DO NOT CHANGE! */ /* This structure defines the contents of the data received from the Master * microprocessor. */ typedef struct { /* begin rx_data_record structure */ unsigned char packet_num; union { bitid bitselect; modebits mode; /*rxdata.rc_mode_byte.mode.(user_display|autonomous|disabled)*/ unsigned char allbits; /*rxdata.rc_mode_byte.allbits*/ } rc_mode_byte; union { bitid bitselect; /*rxdata.oi_swA_byte.bitselect.bit0*/ unsigned char allbits; /*rxdata.oi_swA_byte.allbits*/ } oi_swA_byte; union { bitid bitselect; /*rxdata.oi_swB_byte.bitselect.bit0*/ unsigned char allbits; /*rxdata.oi_swB_byte.allbits*/ } oi_swB_byte; union { bitid bitselect; /*rxdata.rc_swA_byte.bitselect.bit0*/ unsigned char allbits; /*rxdata.rc_swA_byte.allbits*/ } rc_swA_byte; union { bitid bitselect; /*rxdata.rc_swB_byte.bitselect.bit0*/ unsigned char allbits; /*rxdata.rc_swB_byte.allbits*/ } rc_swB_byte; unsigned char oi_analog01, oi_analog02, oi_analog03, oi_analog04; /*rxdata.oi_analog01*/ unsigned char oi_analog05, oi_analog06, oi_analog07, oi_analog08; unsigned char oi_analog09, oi_analog10, oi_analog11, oi_analog12; unsigned char oi_analog13, oi_analog14, oi_analog15, oi_analog16; unsigned char rc_main_batt, rc_backup_batt; unsigned char reserve[8]; } rx_data_record; typedef rx_data_record *rx_data_ptr; /******************************************************************************/ /* DO NOT CHANGE! */ /* This structure defines the contents of the data transmitted to the master * microprocessor. */ typedef struct { /*begin tx_data_record structure*/ union { bitid bitselect; /*txdata.LED_byte1.bitselect.bit0*/ unsigned char data; /*txdata.LED_byte1.data*/ } LED_byte1; union { bitid bitselect; /*txdata.LED_byte2.bitselect.bit0*/ unsigned char data; /*txdata.LED_byte2.data*/ } LED_byte2; union { bitid bitselect; /*txdata.user_byte1.bitselect.bit0*/ unsigned char allbits; /*txdata.user_byte1.allbits*/ } user_byte1; /*for OI feedback*/ union { bitid bitselect; /*txdata.user_byte2.bitselect.bit0*/ unsigned char allbits; /*txdata.user_byte2.allbits*/ } user_byte2; /*for OI feedback*/ unsigned char rc_pwm01, rc_pwm02, rc_pwm03, rc_pwm04; /*txdata.rc_pwm01*/ unsigned char rc_pwm05, rc_pwm06, rc_pwm07, rc_pwm08; unsigned char rc_pwm09, rc_pwm10, rc_pwm11, rc_pwm12; unsigned char rc_pwm13, rc_pwm14, rc_pwm15, rc_pwm16; unsigned char user_cmd; /*reserved - for future use*/ unsigned char cmd_byte1; /*reserved - Don't use*/ unsigned char pwm_mask; /* make sure you know how this works before changing*/ unsigned char warning_code; /*reserved - Don't use*/ unsigned char user_byte3; /* break panel byte 3 */ unsigned char user_byte4; /* break panel byte 4 */ unsigned char user_byte5; /* break panel byte 5 */ unsigned char user_byte6; /* break panel byte 6 */ unsigned char error_code; /*reserved - Don't use*/ unsigned char packetnum; /*reserved - Don't use*/ unsigned char current_mode; /*reserved - Don't use*/ unsigned char control; /*reserved - Don't use*/ } tx_data_record; typedef tx_data_record *tx_data_ptr; /******************************************************************************/ /* DO NOT CHANGE! */ /* This structure defines some flags which are used by the system. */ typedef struct { unsigned int NEW_SPI_DATA:1; unsigned int TX_UPDATED:1; unsigned int FIRST_TIME:1; unsigned int TX_BUFFSELECT:1; unsigned int RX_BUFFSELECT:1; unsigned int SPI_SEMAPHORE:1; unsigned int :2; } packed_struct; /******************************************************************************/ extern tx_data_record txdata; extern rx_data_record rxdata; extern packed_struct statusflag; #else #error *** Error - Invalid Default File! #endif /******************************************************************************* FUNCTION PROTOTYPES *******************************************************************************/ /* These routines reside in ifi_library.lib */ /******************************************************************************* * FUNCTION NAME: InterruptVectorHigh * PURPOSE: This vector jumps to the appropriate high pri. interrupt handler. * CALLED FROM: High priority interrupt vector * ARGUMENTS: none * RETURNS: void *******************************************************************************/ void InterruptHandlerHigh (void); void Initialize_Registers (void); /******************************************************************************* * FUNCTION NAME: IFI_Initialization * PURPOSE: Configure registers and initializes the SPI RX/TX buffers. * CALLED FROM: main.c * ARGUMENTS: none * RETURNS: void *******************************************************************************/ void IFI_Initialization (void); /******************************************************************************* * FUNCTION NAME: User_Proc_Is_Ready * PURPOSE: This routine informs the master processor that all user * initalization has been complete. The call to this routine must * always be the last line of User_Initialization. * CALLED FROM: user_routines.c * ARGUMENTS: none * RETURNS: void *******************************************************************************/ void User_Proc_Is_Ready (void); /******************************************************************************* * FUNCTION NAME: Putdata * PURPOSE: Fill the transmit buffer with data to send out to the master * microprocessor. This routine takes 23 us to complete. * CALLED FROM: user_routines(_fast).c * ARGUMENTS: * Argument Type IO Description * -------- ----------- -- ----------- * ptr tx_data_ptr I pointer to the transmit buffer * RETURNS: void *******************************************************************************/ void Putdata(tx_data_ptr ptr); /******************************************************************************* * FUNCTION NAME: Getdata * PURPOSE: Retrieve data from the SPI receive buffer sent by the master * microprocessor. This routine takes 14.8 us to complete. * CALLED FROM: user_routines(_fast).c * ARGUMENTS: * Argument Type IO Description * -------- ----------- -- ----------- * ptr rx_data_ptr I pointer to the receive buffer * RETURNS: void *******************************************************************************/ void Getdata(rx_data_ptr ptr); /******************************************************************************* * FUNCTION NAME: Setup_PWM_Output_Type * PURPOSE: * CALLED FROM: user_routines.c * ARGUMENTS: * Argument Type IO Description * -------- ----------- -- ----------- * pwmSpec1 int I pwm13 type definition (IFI_PWM or USER_CCP) * pwmSpec2 int I pwm14 type definition (IFI_PWM or USER_CCP) * pwmSpec3 int I pwm15 type definition (IFI_PWM or USER_CCP) * pwmSpec4 int I pwm16 type definition (IFI_PWM or USER_CCP) * RETURNS: void *******************************************************************************/ void Setup_PWM_Output_Type(int pwmSpec1,int pwmSpec2,int pwmSpec3,int pwmSpec4); #endif /******************************************************************************/ /******************************************************************************/ /******************************************************************************/