projects/microb2010/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 "i2c_protocol.h"
  71
  72 /* 0 means "programmed"
  73  * ---- with 16 Mhz quartz
  74  * CKSEL 3-0 : 0111
  75  * SUT 1-0 : 10
  76  * CKDIV8 : 1
  77  * ---- bootloader
  78  * BOOTZ 1-0 : 01 (4K bootloader)
  79  * BOOTRST : 0 (reset on bootloader)
  80  * ---- jtag
  81  * jtagen : 0
  82  */
  83
  84 struct genboard gen;
  85 struct mainboard mainboard;
  86 struct cobboard cobboard;
  87 struct ballboard ballboard;
  88
  89 #ifndef HOST_VERSION
  90 /***********************/
  91
  92 void bootloader(void)
  93 {
  94 #define BOOTLOADER_ADDR 0x3f000
  95         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
  96                 printf_P(PSTR("Bootloader is not present\r\n"));
  97                 return;
  98         }
  99         cli();
 100         BRAKE_ON();
 101         /* ... very specific :( */
 102         TIMSK0 = 0;
 103         TIMSK1 = 0;
 104         TIMSK2 = 0;
 105         TIMSK3 = 0;
 106         TIMSK4 = 0;
 107         TIMSK5 = 0;
 108         EIMSK = 0;
 109         UCSR0B = 0;
 110         UCSR1B = 0;
 111         UCSR2B = 0;
 112         UCSR3B = 0;
 113         SPCR = 0;
 114         TWCR = 0;
 115         ACSR = 0;
 116         ADCSRA = 0;
 117
 118         EIND = 1;
 119         __asm__ __volatile__ ("ldi r31,0xf8\n");
 120         __asm__ __volatile__ ("ldi r30,0x00\n");
 121         __asm__ __volatile__ ("eijmp\n");
 122
 123         /* never returns */
 124 }
 125
 126 void do_time_monitor(void *dummy)
 127 {
 128         uint16_t seconds;
 129         seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
 130         seconds ++;
 131         eeprom_write_word(EEPROM_TIME_ADDRESS, seconds);
 132 }
 133
 134 void do_led_blink(void *dummy)
 135 {
 136 #if 1 /* simple blink */
 137         LED1_TOGGLE();
 138 #endif
 139 }
 140
 141 static void main_timer_interrupt(void)
 142 {
 143         static uint8_t cpt = 0;
 144         cpt++;
 145         sei();
 146         if ((cpt & 0x3) == 0)
 147                 scheduler_interrupt();
 148 }
 149 #endif
 150
 151 int main(void)
 152 {
 153 #ifndef HOST_VERSION
 154         /* brake */
 155         BRAKE_DDR();
 156         BRAKE_OFF();
 157
 158         /* CPLD reset on PG3 */
 159         DDRG |= 1<<3;
 160         PORTG &= ~(1<<3); /* implicit */
 161
 162         /* LEDS */
 163         DDRJ |= 0x0c;
 164         DDRL = 0xc0;
 165         LED1_OFF();
 166         LED2_OFF();
 167         LED3_OFF();
 168         LED4_OFF();
 169 #endif
 170
 171         memset(&gen, 0, sizeof(gen));
 172         memset(&mainboard, 0, sizeof(mainboard));
 173         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 174                 DO_POS | DO_POWER | DO_BD;
 175
 176         /* UART */
 177         uart_init();
 178         uart_register_rx_event(CMDLINE_UART, emergency);
 179 #ifndef HOST_VERSION
 180 #if CMDLINE_UART == 3
 181         fdevopen(uart3_dev_send, uart3_dev_recv);
 182 #elif CMDLINE_UART == 1
 183         fdevopen(uart1_dev_send, uart1_dev_recv);
 184 #endif
 185
 186         //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
 187         /* check eeprom to avoid to run the bad program */
 188         if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 189             EEPROM_MAGIC_MAINBOARD) {
 190                 sei();
 191                 printf_P(PSTR("Bad eeprom value\r\n"));
 192                 while(1);
 193         }
 194 #endif /* ! HOST_VERSION */
 195
 196         /* LOGS */
 197         error_register_emerg(mylog);
 198         error_register_error(mylog);
 199         error_register_warning(mylog);
 200         error_register_notice(mylog);
 201         error_register_debug(mylog);
 202
 203 #ifndef HOST_VERSION
 204         /* SPI + ENCODERS */
 205         encoders_spi_init(); /* this will also init spi hardware */
 206
 207         /* I2C */
 208         i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
 209         i2c_protocol_init();
 210         i2c_register_recv_event(i2c_recvevent);
 211         i2c_register_send_event(i2c_sendevent);
 212
 213         /* TIMER */
 214         timer_init();
 215         timer0_register_OV_intr(main_timer_interrupt);
 216
 217         /* PWM */
 218         PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
 219                                  TIMER1_PRESCALER_DIV_1);
 220         PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
 221                                  TIMER4_PRESCALER_DIV_1);
 222
 223         PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
 224                       &PORTD, 4);
 225         PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
 226                       PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
 227         PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
 228                       &PORTD, 6);
 229         PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
 230                       &PORTD, 7);
 231
 232
 233         /* servos */
 234         PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
 235                                  TIMER1_PRESCALER_DIV_256);
 236         PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
 237                       NULL, 0);
 238         PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
 239                                  TIMER1_PRESCALER_DIV_256);
 240         PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
 241                       NULL, 0);
 242         PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
 243                       NULL, 0);
 244         PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 245                       NULL, 0);
 246         support_balls_deploy(); /* init pwm for servos */
 247 #endif /* !HOST_VERSION */
 248
 249         /* SCHEDULER */
 250         scheduler_init();
 251 #ifdef HOST_VERSION
 252         hostsim_init();
 253         robotsim_init();
 254 #endif
 255
 256 #ifndef HOST_VERSION
 257         scheduler_add_periodical_event_priority(do_led_blink, NULL,
 258                                                 100000L / SCHEDULER_UNIT,
 259                                                 LED_PRIO);
 260 #endif /* !HOST_VERSION */
 261
 262         /* all cs management */
 263         microb_cs_init();
 264
 265 #ifndef HOST_VERSION
 266         /* sensors, will also init hardware adc */
 267         sensor_init();
 268
 269         /* TIME */
 270         time_init(TIME_PRIO);
 271
 272         /* start i2c slave polling */
 273         scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
 274                                                 8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
 275 #endif /* !HOST_VERSION */
 276
 277         /* strat */
 278         gen.logs[0] = E_USER_STRAT;
 279         gen.log_level = 5;
 280         strat_reset_infos();
 281
 282         /* strat-related event */
 283         scheduler_add_periodical_event_priority(strat_event, NULL,
 284                                                 25000L / SCHEDULER_UNIT,
 285                                                 STRAT_PRIO);
 286
 287 #ifndef HOST_VERSION
 288         /* eeprom time monitor */
 289         scheduler_add_periodical_event_priority(do_time_monitor, NULL,
 290                                                 1000000L / SCHEDULER_UNIT,
 291                                                 EEPROM_TIME_PRIO);
 292 #endif /* !HOST_VERSION */
 293
 294         sei();
 295
 296         printf_P(PSTR("\r\n"));
 297         printf_P(PSTR("Respect et robustesse.\r\n"));
 298 #ifndef HOST_VERSION
 299         {
 300                 uint16_t seconds;
 301                 seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
 302                 printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
 303         }
 304 #endif
 305
 306 #ifdef HOST_VERSION
 307         strat_reset_pos(1000, 1000, -90);
 308 #endif
 309
 310         cmdline_interact();
 311
 312         return 0;
 313 }