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 <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 "ax12_user.h"
  63 #include "strat.h"
  64 #include "cmdline.h"
  65 #include "sensor.h"
  66 #include "actuator.h"
  67 #include "cs.h"
  68 #include "i2c_protocol.h"
  69
  70 #if __AVR_LIBC_VERSION__ == 10602UL
  71 #error "won't work with this version"
  72 #endif
  73
  74 /* 0 means "programmed"
  75  * ---- with 16 Mhz quartz
  76  * CKSEL 3-0 : 0111
  77  * SUT 1-0 : 10
  78  * CKDIV8 : 1
  79  * ---- bootloader
  80  * BOOTZ 1-0 : 01 (4K bootloader)
  81  * BOOTRST : 0 (reset on bootloader)
  82  * ---- jtag
  83  * jtagen : 0
  84  */
  85
  86 struct genboard gen;
  87 struct mainboard mainboard;
  88 struct mechboard mechboard;
  89 struct sensorboard sensorboard;
  90
  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 #if 1 /* simple blink */
 138         LED1_TOGGLE();
 139 #endif
 140 }
 141
 142 static void main_timer_interrupt(void)
 143 {
 144         static uint8_t cpt = 0;
 145         cpt++;
 146         sei();
 147         if ((cpt & 0x3) == 0)
 148                 scheduler_interrupt();
 149 }
 150
 151 int main(void)
 152 {
 153         uint16_t seconds;
 154
 155         /* brake */
 156         BRAKE_DDR();
 157         BRAKE_OFF();
 158
 159         /* CPLD reset on PG3 */
 160         DDRG |= 1<<3;
 161         PORTG &= ~(1<<3); /* implicit */
 162
 163         /* LEDS */
 164         DDRJ |= 0x0c;
 165         DDRL = 0xc0;
 166         LED1_OFF();
 167         LED2_OFF();
 168         LED3_OFF();
 169         LED4_OFF();
 170
 171         memset(&gen, 0, sizeof(gen));
 172         memset(&mainboard, 0, sizeof(mainboard));
 173         mainboard.flags = DO_ENCODERS | DO_RS |
 174                 DO_POS | DO_POWER | DO_BD;
 175         sensorboard.opponent_x = I2C_OPPONENT_NOT_THERE;
 176
 177         /* UART */
 178         uart_init();
 179 #if CMDLINE_UART == 3
 180         fdevopen(uart3_dev_send, uart3_dev_recv);
 181         uart_register_rx_event(3, emergency);
 182 #elif CMDLINE_UART == 1
 183         fdevopen(uart1_dev_send, uart1_dev_recv);
 184         uart_register_rx_event(1, emergency);
 185 #else
 186 #  error not supported
 187 #endif
 188
 189         //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
 190         /* check eeprom to avoid to run the bad program */
 191         if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 192             EEPROM_MAGIC_MAINBOARD) {
 193                 sei();
 194                 printf_P(PSTR("Bad eeprom value\r\n"));
 195                 while(1);
 196         }
 197
 198         /* LOGS */
 199         error_register_emerg(mylog);
 200         error_register_error(mylog);
 201         error_register_warning(mylog);
 202         error_register_notice(mylog);
 203         error_register_debug(mylog);
 204
 205         /* SPI + ENCODERS */
 206         encoders_spi_init(); /* this will also init spi hardware */
 207
 208         /* I2C */
 209         i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
 210         i2c_protocol_init();
 211         i2c_register_recv_event(i2c_recvevent);
 212         i2c_register_send_event(i2c_sendevent);
 213
 214         /* TIMER */
 215         timer_init();
 216         timer0_register_OV_intr(main_timer_interrupt);
 217
 218         /* PWM */
 219         PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
 220                                  TIMER1_PRESCALER_DIV_1);
 221         PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
 222                                  TIMER4_PRESCALER_DIV_1);
 223
 224         PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
 225                       PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
 226         PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
 227                       PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
 228         PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
 229                       &PORTD, 6);
 230         PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
 231                       &PORTD, 7);
 232
 233
 234         /* servos */
 235         PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
 236                                  TIMER1_PRESCALER_DIV_256);
 237         PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
 238                       NULL, 0);
 239         PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
 240                                  TIMER1_PRESCALER_DIV_256);
 241         PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
 242                       NULL, 0);
 243         PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
 244                       NULL, 0);
 245         PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 246                       NULL, 0);
 247         pwm_ng_set(&gen.servo2, 290); /* right */
 248         pwm_ng_set(&gen.servo3, 400); /* left */
 249         /* 2 lintels 180, 485 */
 250         /* 1 lintel 155, 520 */
 251
 252         /* SCHEDULER */
 253         scheduler_init();
 254
 255         scheduler_add_periodical_event_priority(do_led_blink, NULL,
 256                                                 100000L / SCHEDULER_UNIT,
 257                                                 LED_PRIO);
 258         /* all cs management */
 259         microb_cs_init();
 260
 261         /* sensors, will also init hardware adc */
 262         sensor_init();
 263
 264         /* TIME */
 265         time_init(TIME_PRIO);
 266
 267         /* start i2c slave polling */
 268         scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
 269                                                 8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
 270
 271         /* strat */
 272         gen.logs[0] = E_USER_STRAT;
 273         gen.log_level = 5;
 274         strat_reset_infos();
 275
 276         /* strat-related event */
 277         scheduler_add_periodical_event_priority(strat_event, NULL,
 278                                                 25000L / SCHEDULER_UNIT,
 279                                                 STRAT_PRIO);
 280
 281         /* eeprom time monitor */
 282         scheduler_add_periodical_event_priority(do_time_monitor, NULL,
 283                                                 1000000L / SCHEDULER_UNIT,
 284                                                 EEPROM_TIME_PRIO);
 285
 286         sei();
 287
 288         printf_P(PSTR("\r\n"));
 289         printf_P(PSTR("Respect et robustesse.\r\n"));
 290         seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
 291         printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
 292         cmdline_interact();
 293
 294         return 0;
 295 }