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