vt100: include pgmspace.h as we use PROGMEM macro
[aversive.git] / 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 }