projects/microb2010/sensorboard/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 <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 "beacon.h"
  62 #include "scanner.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 sensorboard sensorboard;
  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 #if 1 /* simple blink */
 118         static uint8_t a=0;
 119
 120         if(a)
 121                 LED1_ON();
 122         else
 123                 LED1_OFF();
 124
 125         a = !a;
 126 #endif
 127 }
 128
 129 static void main_timer_interrupt(void)
 130 {
 131         static uint8_t cpt = 0;
 132         cpt++;
 133         sei();
 134         if ((cpt & 0x3) == 0)
 135                 scheduler_interrupt();
 136 }
 137
 138 int main(void)
 139 {
 140         /* brake */
 141         BRAKE_OFF();
 142         BRAKE_DDR();
 143
 144         /* CPLD reset on PG3 */
 145         DDRG |= 1<<3;
 146         PORTG &= ~(1<<3); /* implicit */
 147
 148         /* LEDS */
 149         DDRJ |= 0x0c;
 150         DDRL = 0xc0;
 151         LED1_OFF();
 152         memset(&gen, 0, sizeof(gen));
 153         memset(&sensorboard, 0, sizeof(sensorboard));
 154         sensorboard.flags = DO_ENCODERS | DO_CS | DO_POWER; // DO_BD
 155
 156         /* UART */
 157         uart_init();
 158 #if CMDLINE_UART == 3
 159         fdevopen(uart3_dev_send, uart3_dev_recv);
 160         uart_register_rx_event(3, emergency);
 161 #elif CMDLINE_UART == 1
 162         fdevopen(uart1_dev_send, uart1_dev_recv);
 163         uart_register_rx_event(1, emergency);
 164 #else
 165 #  error not supported
 166 #endif
 167
 168         //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_SENSORBOARD);
 169         /* check eeprom to avoid to run the bad program */
 170         if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
 171             EEPROM_MAGIC_SENSORBOARD) {
 172                 sei();
 173                 printf_P(PSTR("Bad eeprom value\r\n"));
 174                 while(1);
 175         }
 176
 177         /* LOGS */
 178         error_register_emerg(mylog);
 179         error_register_error(mylog);
 180         error_register_warning(mylog);
 181         error_register_notice(mylog);
 182         error_register_debug(mylog);
 183
 184         /* SPI + ENCODERS */
 185         encoders_spi_init(); /* this will also init spi hardware */
 186
 187         /* I2C */
 188         i2c_protocol_init();
 189         i2c_init(I2C_MODE_SLAVE, I2C_SENSORBOARD_ADDR);
 190         i2c_register_recv_event(i2c_recvevent);
 191
 192         /* TIMER */
 193         timer_init();
 194         timer0_register_OV_intr(main_timer_interrupt);
 195
 196         /* PWM */
 197         PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
 198                                  TIMER1_PRESCALER_DIV_1);
 199         PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
 200                                  TIMER4_PRESCALER_DIV_1);
 201
 202         PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
 203                       PWM_NG_MODE_SIGN_INVERTED,
 204                       &PORTD, 4);
 205         PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
 206                       &PORTD, 5);
 207         PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
 208                       &PORTD, 6);
 209         PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
 210                       &PORTD, 7);
 211
 212
 213         /* servos */
 214         PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
 215                                  TIMER1_PRESCALER_DIV_256);
 216         PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
 217                       NULL, 0);
 218         PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
 219                                  TIMER1_PRESCALER_DIV_256);
 220         PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
 221                       NULL, 0);
 222         PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
 223                       NULL, 0);
 224         PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 225                       NULL, 0);
 226
 227         /* SCHEDULER */
 228         scheduler_init();
 229
 230         scheduler_add_periodical_event_priority(do_led_blink, NULL,
 231                                                 100000L / SCHEDULER_UNIT,
 232                                                 LED_PRIO);
 233         /* all cs management */
 234         microb_cs_init();
 235
 236         /* sensors, will also init hardware adc */
 237         sensor_init();
 238
 239         /* TIME */
 240         time_init(TIME_PRIO);
 241
 242         /* ax12 */
 243         ax12_user_init();
 244
 245         /* beacon */
 246         beacon_init();
 247         scheduler_add_periodical_event_priority(beacon_calc, NULL,
 248                                                 20000L / SCHEDULER_UNIT,
 249                                                 BEACON_PRIO);
 250
 251
 252
 253         /* scan */
 254
 255
 256         scanner_init();
 257         scheduler_add_periodical_event_priority(do_scan, NULL,
 258                                                 (1024L*1L) / SCHEDULER_UNIT,
 259                                                 CS_PRIO-1);
 260
 261         sei();
 262
 263         scan_params.speed = SCAN_DEFAULT_SPEED;
 264         scan_params.debug = 0;
 265
 266         scanner_calibre_mirror();
 267         scanner_calibre_laser();
 268
 269         beacon_calibre_pos();
 270
 271
 272         printf_P(PSTR("\r\n"));
 273         printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
 274         cmdline_interact();
 275
 276
 277
 278         return 0;
 279 }