skel.h

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2012:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU Lesser General Public License as published
        by the Free Software Foundation, version 3 of the License.
        
        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU Lesser General Public License for more details.
        
        You should have received a copy of the GNU Lesser General Public License
        along with this program. If not, see <http://www.gnu.org/licenses/>.
*/


#ifndef _SKEL_H_
#define _SKEL_H_

// Molole includes
#include <can/can.h>
#include <dma/dma.h>
#include <gpio/gpio.h>
#include <types/types.h>


// Aseba include
#include <vm/natives.h>
#include <vm/vm.h>

#include <common/types.h>

#include <skel-user.h>




extern struct _vmVariables vmVariables;

extern unsigned int events_flags;

extern AsebaVMState vmState;


/*** In your code, put "SET_EVENT(EVENT_NUMBER)" when you want to trigger an 
         event. This macro is interrupt-safe, you can call it anywhere you want.
***/
#define SET_EVENT(event) atomic_or(&events_flags, 1 << event)
#define CLEAR_EVENT(event) atomic_and(&events_flags, ~(1 << event))
#define IS_EVENT(event) (events_flags & (1 << event))





// Call this when everything is initialised and you are ready to give full control to the VM
void __attribute((noreturn)) run_aseba_main_loop(void);

// Call this to init aseba. Beware, this will:
// 1. init the CAN module
// 2. clear vmVariables.
// 3. Load any bytecode in flash if present
void init_aseba_and_can(void);

// This function must update the variable to match the microcontroller state
// It is called _BEFORE_ running the VM, so it's a {Microcontroller state} -> {Aseba Variable}
// synchronisation
// Implement it yourself
void update_aseba_variables_read(void);

// This function must update the microcontrolleur state to match the variables
// It is called _AFTER_ running the VM, so it's a {Aseba Variables} -> {Microcontroller state}
// synchronisation
//Implement it yourself
void update_aseba_variables_write(void);

// This function load the settings structure from flash. Call it _AFTER_ init_aseba_and_can()
// return 0 if the settings were loaded
// return non-zero if the settings were NOT found (settings is non-initilised)
int load_settings_from_flash(void);


extern struct private_settings settings;


#endif