mainboard/main.c

   1 /*
   2  *  Copyright Droids Corporation
   3  *  Olivier Matz <zer0@droids-corp.org>
   4  *
   5  *  This program is free software; you can redistribute it and/or modify
   6  *  it under the terms of the GNU General Public License as published by
   7  *  the Free Software Foundation; either version 2 of the License, or
   8  *  (at your option) any later version.
   9  *
  10  *  This program is distributed in the hope that it will be useful,
  11  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13  *  GNU General Public License for more details.
  14  *
  15  *  You should have received a copy of the GNU General Public License
  16  *  along with this program; if not, write to the Free Software
  17  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  18  *
  19  *  Revision : $Id: main.c,v 1.10 2009-11-08 17:24:33 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive.h>
  27 #include <aversive/pgmspace.h>
  28 #include <aversive/wait.h>
  29 #include <aversive/error.h>
  30 #include <aversive/eeprom.h>
  31
  32 #include <ax12.h>
  33 #include <uart.h>
  34 #include <spi.h>
  35 #include <i2c.h>
  36 #include <encoders_spi.h>
  37 #include <pwm_ng.h>
  38 #include <timer.h>
  39 #include <scheduler.h>
  40 #include <clock_time.h>
  41 #include <adc.h>
  42
  43 #include <pid.h>
  44 #include <quadramp.h>
  45 #include <control_system_manager.h>
  46 #include <trajectory_manager.h>
  47 #include <vect_base.h>
  48 #include <lines.h>
  49 #include <polygon.h>
  50 #include <obstacle_avoidance.h>
  51 #include <blocking_detection_manager.h>
  52 #include <robot_system.h>
  53 #include <position_manager.h>
  54
  55 #include <parse.h>
  56 #include <rdline.h>
  57
  58 #include "../common/eeprom_mapping.h"
  59 #include "../common/i2c_commands.h"
  60
  61 #include "main.h"
  62 #include "robotsim.h"
  63 #include "ax12_user.h"
  64 #include "strat.h"
  65 #include "cmdline.h"
  66 #include "sensor.h"
  67 #include "actuator.h"
  68 #include "cs.h"
  69 #include "strat_base.h"
  70 #include "strat_db.h"
  71 #include "i2c_protocol.h"
  72
  73 /* 0 means "programmed"
  74  * ---- with 16 Mhz quartz
  75  * CKSEL 3-0 : 0111
  76  * SUT 1-0 : 10
  77  * CKDIV8 : 1
  78  * ---- bootloader
  79  * BOOTZ 1-0 : 01 (4K bootloader)
  80  * BOOTRST : 0 (reset on bootloader)
  81  * ---- jtag
  82  * jtagen : 0
  83  */
  84
  85 struct genboard gen;
  86 struct mainboard mainboard;
  87 volatile struct cobboard cobboard;
  88 volatile struct ballboard ballboard;
  89
  90 #ifndef HOST_VERSION
  91 /***********************/
  92
  93 void bootloader(void)
  94 {
  95 #define BOOTLOADER_ADDR 0x3f000
  96         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
  97                 printf_P(PSTR("Bootloader is not present\r\n"));
  98                 return;
  99         }
 100         cli();
 101         BRAKE_ON();
 102         /* ... very specific :( */
 103         TIMSK0 = 0;
 104         TIMSK1 = 0;
 105         TIMSK2 = 0;
 106         TIMSK3 = 0;
 107         TIMSK4 = 0;
 108         TIMSK5 = 0;
 109         EIMSK = 0;
 110         UCSR0B = 0;
 111         UCSR1B = 0;
 112         UCSR2B = 0;
 113         UCSR3B = 0;
 114         SPCR = 0;
 115         TWCR = 0;
 116         ACSR = 0;
 117         ADCSRA = 0;
 118
 119         EIND = 1;
 120         __asm__ __volatile__ ("ldi r31,0xf8\n");
 121         __asm__ __volatile__ ("ldi r30,0x00\n");
 122         __asm__ __volatile__ ("eijmp\n");
 123
 124         /* never returns */
 125 }
 126
 127 void do_time_monitor(void *dummy)
 128 {
 129         uint16_t seconds;
 130         seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
 131         seconds ++;
 132         eeprom_write_word(EEPROM_TIME_ADDRESS, seconds);
 133 }
 134
 135 void do_led_blink(void *dummy)
 136 {
 137         static uint8_t a = 0;
 138
 139         if (mainboard.flags & DO_ERRBLOCKING) {
 140                 if (a & 1)
 141                         LED1_ON();
 142                 else
 143                         LED1_OFF();
 144         }
 145         else {
 146                 if (a & 4)
 147                         LED1_ON();
 148                 else
 149                         LED1_OFF();
 150         }
 151         a++;
 152 }
 153
 154 static void main_timer_interrupt(void)
 155 {
 156         static uint8_t cpt = 0;
 157         cpt++;
 158         sei();
 159         if ((cpt & 0x3) == 0)
 160                 scheduler_interrupt();
 161 }
 162 #endif
 163
 164 int main(void)
 165 {
 166 #ifndef HOST_VERSION
 167         /* brake */
 168         BRAKE_DDR();
 169         BRAKE_OFF();
 170
 171         /* CPLD reset on PG3 */
 172         DDRG |= 1<<3;
 173         PORTG &= ~(1<<3); /* implicit */
 174
 175         /* LEDS */
 176         DDRJ |= 0x0c;
 177         DDRL = 0xc0;
 178         LED1_OFF();
 179         LED2_OFF();
 180         LED3_OFF();
 181         LED4_OFF();
 182 #endif
 183
 184         memset(&gen, 0, sizeof(gen));
 185         memset(&mainboard, 0, sizeof(mainboard));
 186         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 187                 DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
 188         ballboard.lcob = I2C_COB_NONE;
 189         ballboard.rcob = I2C_COB_NONE;
 190
 191         /* UART */
 192         uart_init();
 193         uart_register_rx_event(CMDLINE_UART, emergency);
 194 #ifndef HOST_VERSION
 195 #if CMDLINE_UART == 3
 196         fdevopen(uart3_dev_send, uart3_dev_recv);
 197 #elif CMDLINE_UART == 1
 198         fdevopen(uart1_dev_send, uart1_dev_recv);
 199 #endif
 200
 201         /* check eeprom to avoid to run the bad program */
 202         if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 203             EEPROM_MAGIC_MAINBOARD) {
 204                 int c;
 205                 sei();
 206                 printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
 207                 c = uart_recv(CMDLINE_UART);
 208                 if (c == 'f')
 209                         eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
 210                 wait_ms(100);
 211                 bootloader();
 212         }
 213 #endif /* ! HOST_VERSION */
 214
 215         /* LOGS */
 216         error_register_emerg(mylog);
 217         error_register_error(mylog);
 218         error_register_warning(mylog);
 219         error_register_notice(mylog);
 220         error_register_debug(mylog);
 221
 222 #ifndef HOST_VERSION
 223         /* SPI + ENCODERS */
 224         encoders_spi_init(); /* this will also init spi hardware */
 225
 226         /* I2C */
 227         i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
 228         i2c_protocol_init();
 229         i2c_register_recv_event(i2c_recvevent);
 230         i2c_register_send_event(i2c_sendevent);
 231
 232         /* TIMER */
 233         timer_init();
 234         timer0_register_OV_intr(main_timer_interrupt);
 235
 236         /* PWM */
 237         PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
 238                                  TIMER1_PRESCALER_DIV_1);
 239         PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
 240                                  TIMER4_PRESCALER_DIV_1);
 241
 242         PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
 243                       &PORTD, 4);
 244         PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
 245                       PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
 246         PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
 247                       &PORTD, 6);
 248         PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
 249                       &PORTD, 7);
 250
 251
 252         /* servos */
 253         PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
 254                                  TIMER1_PRESCALER_DIV_256);
 255         PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
 256                       NULL, 0);
 257         PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
 258                                  TIMER1_PRESCALER_DIV_256);
 259         PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
 260                       NULL, 0);
 261         PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
 262                       NULL, 0);
 263         PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 264                       NULL, 0);
 265         support_balls_deploy(); /* init pwm for servos */
 266 #endif /* !HOST_VERSION */
 267
 268         /* SCHEDULER */
 269         scheduler_init();
 270 #ifdef HOST_VERSION
 271         hostsim_init();
 272         robotsim_init();
 273 #endif
 274
 275 #ifndef HOST_VERSION
 276         scheduler_add_periodical_event_priority(do_led_blink, NULL,
 277                                                 100000L / SCHEDULER_UNIT,
 278                                                 LED_PRIO);
 279 #endif /* !HOST_VERSION */
 280
 281         /* all cs management */
 282         microb_cs_init();
 283
 284         /* TIME */
 285         time_init(TIME_PRIO);
 286
 287 #ifndef HOST_VERSION
 288         /* sensors, will also init hardware adc */
 289         sensor_init();
 290
 291         /* start i2c slave polling */
 292         scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
 293                                                 8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
 294 #endif /* !HOST_VERSION */
 295
 296         /* strat */
 297         gen.logs[0] = E_USER_STRAT;
 298         gen.log_level = 5;
 299         strat_db_init();
 300
 301         /* strat-related event */
 302         scheduler_add_periodical_event_priority(strat_event, NULL,
 303                                                 10000L / SCHEDULER_UNIT,
 304                                                 STRAT_PRIO);
 305
 306 #ifndef HOST_VERSION
 307         /* eeprom time monitor */
 308         scheduler_add_periodical_event_priority(do_time_monitor, NULL,
 309                                                 1000000L / SCHEDULER_UNIT,
 310                                                 EEPROM_TIME_PRIO);
 311 #endif /* !HOST_VERSION */
 312
 313         sei();
 314
 315         printf_P(PSTR("\r\n"));
 316         printf_P(PSTR("Respect et robustesse.\r\n"));
 317 #ifndef HOST_VERSION
 318         {
 319                 uint16_t seconds;
 320                 seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
 321                 printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
 322         }
 323 #endif
 324
 325 #ifdef HOST_VERSION
 326         strat_reset_pos(400, COLOR_Y(400), COLOR_A(-90));
 327 #endif
 328
 329         cmdline_interact();
 330
 331         return 0;
 332 }