
/*
 * DR-11C robot & vision device driver
 */

#define	ROBOT		0	/* minor device of robot project */
#define	DRC_DELAY	50000	/* spin loop timeout */

#define	DRC_CSR0	01	/* CSR bit 0 (to user dev) */
#define	DRC_CSR1	02	/* CSR bit 1 (to user dev) */
#define	DRC_IEB		040	/* INTER Enable B */
#define	DRC_IEA		0100	/* INTER Enable A */
#define	DRC_REQA	0200	/* REQ A line from user dev */
#define	DRC_REQB	0100000	/* REQ B line from user dev */

struct drcROBOT {
	caddr_t	R_wbuf;		/* address of write buffer */
				/* first word of buffer  is byte count */
	caddr_t	R_rbuf;		/* address of read buffer */
	int	R_rcount;	/* byte count (must be even) */
	int 	(*R_routine)();	/* address of user interrupt routine */
	int 	(*R_routine2)();/* address of user interrupt routine2 */
};
