projects/microb2010/ballboard/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 1.4 2009-05-27 20:04:07 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25 #include <avr/eeprom.h>
  26
  27 #include <aversive.h>
  28 #include <aversive/pgmspace.h>
  29 #include <aversive/wait.h>
  30 #include <aversive/error.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 <blocking_detection_manager.h>
  47
  48 #include <parse.h>
  49 #include <rdline.h>
  50
  51 #include "../common/eeprom_mapping.h"
  52 #include "../common/i2c_commands.h"
  53
  54 #include "main.h"
  55 #include "ax12_user.h"
  56 #include "cmdline.h"
  57 #include "sensor.h"
  58 #include "actuator.h"
  59 #include "cs.h"
  60 #include "i2c_protocol.h"
  61 #include "state.h"
  62 #include "beacon.h"
  63
  64 /* 0 means "programmed"
  65  * ---- with 16 Mhz quartz
  66  * CKSEL 3-0 : 0111
  67  * SUT 1-0 : 10
  68  * CKDIV8 : 1
  69  * ---- bootloader
  70  * BOOTZ 1-0 : 01 (4K bootloader)
  71  * BOOTRST : 0 (reset on bootloader)
  72  * ---- jtag
  73  * jtagen : 0
  74  */
  75
  76 struct genboard gen;
  77 struct ballboard ballboard;
  78
  79 /***********************/
  80
  81 void bootloader(void)
  82 {
  83 #define BOOTLOADER_ADDR 0x3f000
  84         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
  85                 printf_P(PSTR("Bootloader is not present\r\n"));
  86                 return;
  87         }
  88         cli();
  89         BRAKE_ON();
  90         /* ... very specific :( */
  91         TIMSK0 = 0;
  92         TIMSK1 = 0;
  93         TIMSK2 = 0;
  94         TIMSK3 = 0;
  95         TIMSK4 = 0;
  96         TIMSK5 = 0;
  97         EIMSK = 0;
  98         UCSR0B = 0;
  99         UCSR1B = 0;
 100         UCSR2B = 0;
 101         UCSR3B = 0;
 102         SPCR = 0;
 103         TWCR = 0;
 104         ACSR = 0;
 105         ADCSRA = 0;
 106
 107         EIND = 1;
 108         __asm__ __volatile__ ("ldi r31,0xf8\n");
 109         __asm__ __volatile__ ("ldi r30,0x00\n");
 110         __asm__ __volatile__ ("eijmp\n");
 111
 112         /* never returns */
 113 }
 114
 115 void do_led_blink(__attribute__((unused)) void *dummy)
 116 {
 117         static uint8_t a = 0;
 118
 119         if (ballboard.flags & DO_ERRBLOCKING) {
 120                 if (a & 1)
 121                         LED1_ON();
 122                 else
 123                         LED1_OFF();
 124         }
 125         else {
 126                 if (a & 4)
 127                         LED1_ON();
 128                 else
 129                         LED1_OFF();
 130         }
 131         a++;
 132 }
 133
 134 static void main_timer_interrupt(void)
 135 {
 136         static uint8_t cpt = 0;
 137         cpt++;
 138         sei();
 139         if ((cpt & 0x3) == 0)
 140                 scheduler_interrupt();
 141 }
 142
 143 int main(void)
 144 {
 145         /* brake */
 146         BRAKE_OFF();
 147         BRAKE_DDR();
 148
 149         /* CPLD reset on PG3 */
 150         DDRG |= 1<<3;
 151         PORTG &= ~(1<<3); /* implicit */
 152
 153         /* LEDS */
 154         DDRJ |= 0x0c;
 155         DDRL = 0xc0;
 156         LED1_OFF();
 157         memset(&gen, 0, sizeof(gen));
 158         memset(&ballboard, 0, sizeof(ballboard));
 159         ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER |
 160                 DO_ERRBLOCKING | DO_BD;
 161
 162         /* UART */
 163         uart_init();
 164 #if CMDLINE_UART == 3
 165         fdevopen(uart3_dev_send, uart3_dev_recv);
 166         uart_register_rx_event(3, emergency);
 167 #elif CMDLINE_UART == 1
 168         fdevopen(uart1_dev_send, uart1_dev_recv);
 169         uart_register_rx_event(1, emergency);
 170 #else
 171 #  error not supported
 172 #endif
 173
 174         /* check eeprom to avoid to run the bad program */
 175         if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 176             EEPROM_MAGIC_BALLBOARD) {
 177                 int c;
 178                 sei();
 179                 printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
 180                 c = uart_recv(CMDLINE_UART);
 181                 if (c == 'f')
 182                         eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
 183                 wait_ms(100);
 184                 bootloader();
 185         }
 186
 187         /* LOGS */
 188         error_register_emerg(mylog);
 189         error_register_error(mylog);
 190         error_register_warning(mylog);
 191         error_register_notice(mylog);
 192         error_register_debug(mylog);
 193
 194         /* SPI + ENCODERS */
 195         encoders_spi_init(); /* this will also init spi hardware */
 196
 197         /* I2C */
 198         i2c_protocol_init();
 199         i2c_init(I2C_MODE_SLAVE, I2C_BALLBOARD_ADDR);
 200         i2c_register_recv_event(i2c_recvevent);
 201
 202         /* TIMER */
 203         timer_init();
 204         timer0_register_OV_intr(main_timer_interrupt);
 205
 206         /* PWM */
 207         PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
 208                                  TIMER1_PRESCALER_DIV_1);
 209         PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
 210                                  TIMER4_PRESCALER_DIV_1);
 211
 212         PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
 213                       &PORTD, 4);
 214         PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
 215                       &PORTD, 5);
 216         PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED |
 217                       PWM_NG_MODE_SIGN_INVERTED, &PORTD, 6);
 218         PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
 219                       PWM_NG_MODE_SIGN_INVERTED,
 220                       &PORTD, 7);
 221
 222
 223         /* servos */
 224         PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
 225                                  TIMER1_PRESCALER_DIV_256);
 226         PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
 227                       NULL, 0);
 228         PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
 229                                  TIMER1_PRESCALER_DIV_256);
 230         PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
 231                       NULL, 0);
 232         PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
 233                       NULL, 0);
 234         PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 235                       NULL, 0);
 236
 237         /* SCHEDULER */
 238         scheduler_init();
 239
 240         scheduler_add_periodical_event_priority(do_led_blink, NULL,
 241                                                 100000L / SCHEDULER_UNIT,
 242                                                 LED_PRIO);
 243         /* all cs management */
 244         microb_cs_init();
 245
 246         /* sensors, will also init hardware adc */
 247         sensor_init();
 248
 249         /* beacon */
 250         beacon_init();
 251         scheduler_add_periodical_event_priority(beacon_calc, NULL,
 252                                                 20000L / SCHEDULER_UNIT,
 253                                                 BEACON_PRIO);
 254         /* TIME */
 255         time_init(TIME_PRIO);
 256
 257         /* ax12 */
 258         ax12_user_init();
 259
 260         gen.logs[0] = E_USER_ST_MACH;
 261         gen.log_level = 5;
 262
 263         sei();
 264
 265         actuator_init();
 266         beacon_calibre_pos();
 267
 268         printf_P(PSTR("\r\n"));
 269         printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
 270
 271         state_machine();
 272         cmdline_interact();
 273
 274         return 0;
 275 }