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 "strat_db.h"
  71 #include "strat_avoid.h"
  72 #include "i2c_protocol.h"
  73 #include "beacon.h"
  74
  75
  76 /* 0 means "programmed"
  77  * ---- with 16 Mhz quartz
  78  * CKSEL 3-0 : 0111
  79  * SUT 1-0 : 10
  80  * CKDIV8 : 1
  81  * ---- bootloader
  82  * BOOTZ 1-0 : 01 (4K bootloader)
  83  * BOOTRST : 0 (reset on bootloader)
  84  * ---- jtag
  85  * jtagen : 0
  86  */
  87
  88 struct genboard gen;
  89 struct mainboard mainboard;
  90 volatile struct cobboard cobboard;
  91 volatile struct ballboard ballboard;
  92 volatile struct beaconboard beaconboard;
  93
  94 #ifndef HOST_VERSION
  95 /***********************/
  96
  97 void bootloader(void)
  98 {
  99 #define BOOTLOADER_ADDR 0x3f000
 100         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
 101                 printf_P(PSTR("Bootloader is not present\r\n"));
 102                 return;
 103         }
 104         cli();
 105         BRAKE_ON();
 106         /* ... very specific :( */
 107         TIMSK0 = 0;
 108         TIMSK1 = 0;
 109         TIMSK2 = 0;
 110         TIMSK3 = 0;
 111         TIMSK4 = 0;
 112         TIMSK5 = 0;
 113         EIMSK = 0;
 114         UCSR0B = 0;
 115         UCSR1B = 0;
 116         UCSR2B = 0;
 117         UCSR3B = 0;
 118         SPCR = 0;
 119         TWCR = 0;
 120         ACSR = 0;
 121         ADCSRA = 0;
 122
 123         EIND = 1;
 124         __asm__ __volatile__ ("ldi r31,0xf8\n");
 125         __asm__ __volatile__ ("ldi r30,0x00\n");
 126         __asm__ __volatile__ ("eijmp\n");
 127
 128         /* never returns */
 129 }
 130
 131 void do_time_monitor(void *dummy)
 132 {
 133         uint16_t seconds;
 134         seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
 135         seconds ++;
 136         eeprom_write_word(EEPROM_TIME_ADDRESS, seconds);
 137 }
 138
 139 void do_led_blink(void *dummy)
 140 {
 141         static uint8_t a = 0;
 142
 143         if (mainboard.flags & DO_ERRBLOCKING) {
 144                 if (a & 1)
 145                         LED1_ON();
 146                 else
 147                         LED1_OFF();
 148         }
 149         else {
 150                 if (a & 4)
 151                         LED1_ON();
 152                 else
 153                         LED1_OFF();
 154         }
 155         a++;
 156 }
 157
 158 static void main_timer_interrupt(void)
 159 {
 160         static uint8_t cpt = 0;
 161         cpt++;
 162         sei();
 163         if ((cpt & 0x3) == 0)
 164                 scheduler_interrupt();
 165 }
 166 #endif
 167
 168 int main(void)
 169 {
 170 #ifndef HOST_VERSION
 171         /* brake */
 172         BRAKE_DDR();
 173         BRAKE_OFF();
 174
 175         /* CPLD reset on PG3 */
 176         DDRG |= 1<<3;
 177         PORTG &= ~(1<<3); /* implicit */
 178
 179         /* LEDS */
 180         DDRJ |= 0x0c;
 181         DDRL = 0xc0;
 182         LED1_OFF();
 183         LED2_OFF();
 184         LED3_OFF();
 185         LED4_OFF();
 186 #endif
 187
 188         memset(&gen, 0, sizeof(gen));
 189         memset(&mainboard, 0, sizeof(mainboard));
 190         mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
 191                 DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
 192         ballboard.lcob = I2C_COB_NONE;
 193         ballboard.rcob = I2C_COB_NONE;
 194
 195         beaconboard.oppx = I2C_OPPONENT_NOT_THERE;
 196
 197         /* UART */
 198         uart_init();
 199         uart_register_rx_event(CMDLINE_UART, emergency);
 200 #ifndef HOST_VERSION
 201 #if CMDLINE_UART == 3
 202         fdevopen(uart3_dev_send, uart3_dev_recv);
 203 #elif CMDLINE_UART == 1
 204         fdevopen(uart1_dev_send, uart1_dev_recv);
 205 #endif
 206
 207         /* check eeprom to avoid to run the bad program */
 208         if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 209             EEPROM_MAGIC_MAINBOARD) {
 210                 int c;
 211                 sei();
 212                 printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
 213                 c = uart_recv(CMDLINE_UART);
 214                 if (c == 'f')
 215                         eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
 216                 wait_ms(100);
 217                 bootloader();
 218         }
 219 #endif /* ! HOST_VERSION */
 220
 221         /* LOGS */
 222         error_register_emerg(mylog);
 223         error_register_error(mylog);
 224         error_register_warning(mylog);
 225         error_register_notice(mylog);
 226         error_register_debug(mylog);
 227
 228 #ifndef HOST_VERSION
 229         /* SPI + ENCODERS */
 230         encoders_spi_init(); /* this will also init spi hardware */
 231
 232         /* I2C */
 233         i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
 234         i2c_protocol_init();
 235         i2c_register_recv_event(i2c_recvevent);
 236         i2c_register_send_event(i2c_sendevent);
 237
 238         /* TIMER */
 239         timer_init();
 240         timer0_register_OV_intr(main_timer_interrupt);
 241
 242         /* PWM */
 243         PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
 244                                  TIMER1_PRESCALER_DIV_1);
 245         PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
 246                                  TIMER4_PRESCALER_DIV_1);
 247
 248         PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
 249                       &PORTD, 4);
 250         PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
 251                       PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
 252         PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
 253                       &PORTD, 6);
 254         PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
 255                       &PORTD, 7);
 256
 257
 258         /* servos */
 259         PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
 260                                  TIMER1_PRESCALER_DIV_256);
 261         PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
 262                       NULL, 0);
 263         PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
 264                                  TIMER1_PRESCALER_DIV_256);
 265         PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
 266                       NULL, 0);
 267         PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
 268                       NULL, 0);
 269         PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 270                       NULL, 0);
 271         support_balls_deploy(); /* init pwm for servos */
 272 #endif /* !HOST_VERSION */
 273
 274         /* SCHEDULER */
 275         scheduler_init();
 276 #ifdef HOST_VERSION
 277         hostsim_init();
 278         robotsim_init();
 279 #endif
 280
 281 #ifndef HOST_VERSION
 282         scheduler_add_periodical_event_priority(do_led_blink, NULL,
 283                                                 100000L / SCHEDULER_UNIT,
 284                                                 LED_PRIO);
 285 #endif /* !HOST_VERSION */
 286
 287         /* all cs management */
 288         microb_cs_init();
 289
 290         /* TIME */
 291         time_init(TIME_PRIO);
 292
 293         /* sensors, will also init hardware adc */
 294         sensor_init();
 295
 296         /* beacon */
 297         beacon_init();
 298
 299 #ifndef HOST_VERSION
 300         /* start i2c slave polling */
 301         scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
 302                                                 8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
 303 #endif /* !HOST_VERSION */
 304
 305         /* strat */
 306         gen.logs[0] = E_USER_STRAT;
 307         gen.log_level = 5;
 308
 309         /* strat-related event */
 310         scheduler_add_periodical_event_priority(strat_event, NULL,
 311                                                 25000L / SCHEDULER_UNIT,
 312                                                 STRAT_PRIO);
 313
 314 #ifndef HOST_VERSION
 315         /* eeprom time monitor */
 316         scheduler_add_periodical_event_priority(do_time_monitor, NULL,
 317                                                 1000000L / SCHEDULER_UNIT,
 318                                                 EEPROM_TIME_PRIO);
 319 #endif /* !HOST_VERSION */
 320
 321         sei();
 322
 323         strat_db_init();
 324         test_strat_avoid();
 325
 326         printf_P(PSTR("\r\n"));
 327         printf_P(PSTR("Respect et robustesse.\r\n"));
 328 #ifndef HOST_VERSION
 329         {
 330                 uint16_t seconds;
 331                 seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
 332                 printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
 333         }
 334 #endif
 335
 336 #ifdef HOST_VERSION
 337         strat_reset_pos(400, COLOR_Y(400), COLOR_A(-90));
 338 #endif
 339
 340         cmdline_interact();
 341
 342         return 0;
 343 }