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ifi_aliases.h
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/********************************************************************************
* FILE NAME: ifi_aliases.h <FRC VERSION>
*
* 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 <adc.h>
/* 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 <X> mode; 0 = not in <X> 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
/*---------------------------------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------------------------------*/
/*---------------------------------------------------------------------------------------------------*/