4 * Robot laser navigation using laser beacon - I/O part
6 * Tested board: Mirosot with Hitachi processor H8S/2638
8 * PXMC library is Copyright of PiKRON Ltd. http://www.pikron.com
10 * Copyright: (c) 2007 CTU Dragons
11 * CTU FEE - Department of Control Engineering
12 * Contacts: Tran Duy Khanh <trandk1@fel.cvut.cz>
13 * License: GNU GPL v.2
16 /* define LAS_CAN if the date should be sent over CAN otherwise the serial
17 * line is used by default */
20 /* number of maximum measured times each cycle + the first one
21 * store number of measured times + the second store the period of
23 #define LAS_CNT 12 /* dont forget to change CRA if DTC is used!!*/
24 /* index of information in times array */
25 #define LAS_MEAS_CNTI 0 /* counter index of measured times */
26 #define LAS_MEAS_PERI 1 /* period index */
27 #define LAS_MEAS_DATAI 2 /* data index */
32 static __u16 meas[LAS_CNT];
33 static __u8 meas_cnt = 0;
35 /* used to received correctly data by CAN */
36 static __u8 last_id = 0;