work on trajectory, update cobboard and ballboard too

[aversive.git] / projects / microb2010 / mainboard / main.c

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index d0c9d14..88d4f97 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -1,7 +1,7 @@
-/*  
+/*
  *  Copyright Droids Corporation
  *  Olivier Matz <zer0@droids-corp.org>
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -59,18 +59,20 @@
 #include "../common/i2c_commands.h"
 
 #include "main.h"
+#include "robotsim.h"
 #include "ax12_user.h"
 #include "strat.h"
 #include "cmdline.h"
 #include "sensor.h"
 #include "actuator.h"
 #include "cs.h"
+#include "strat_base.h"
 #include "i2c_protocol.h"
 
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
- * SUT 1-0 : 10 
+ * SUT 1-0 : 10
  * CKDIV8 : 1
  * ---- bootloader
  * BOOTZ 1-0 : 01 (4K bootloader)
@@ -84,6 +86,7 @@ struct mainboard mainboard;
 struct cobboard cobboard;
 struct ballboard ballboard;
 
+#ifndef HOST_VERSION
 /***********************/
 
 void bootloader(void)
@@ -116,7 +119,7 @@ void bootloader(void)
        __asm__ __volatile__ ("ldi r31,0xf8\n");
        __asm__ __volatile__ ("ldi r30,0x00\n");
        __asm__ __volatile__ ("eijmp\n");
-       
+
        /* never returns */
 }
 
@@ -143,11 +146,11 @@ static void main_timer_interrupt(void)
        if ((cpt & 0x3) == 0)
                scheduler_interrupt();
 }
+#endif
 
 int main(void)
 {
-       uint16_t seconds;
-
+#ifndef HOST_VERSION
        /* brake */
        BRAKE_DDR();
        BRAKE_OFF();
@@ -163,22 +166,21 @@ int main(void)
        LED2_OFF();
        LED3_OFF();
        LED4_OFF();
+#endif
 
        memset(&gen, 0, sizeof(gen));
        memset(&mainboard, 0, sizeof(mainboard));
-       mainboard.flags = DO_ENCODERS | DO_RS |
+       mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
                DO_POS | DO_POWER | DO_BD;
 
        /* UART */
        uart_init();
+       uart_register_rx_event(CMDLINE_UART, emergency);
+#ifndef HOST_VERSION
 #if CMDLINE_UART == 3
        fdevopen(uart3_dev_send, uart3_dev_recv);
-       uart_register_rx_event(3, emergency);
 #elif CMDLINE_UART == 1
        fdevopen(uart1_dev_send, uart1_dev_recv);
-       uart_register_rx_event(1, emergency);
-#else
-#  error not supported
 #endif
 
        //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
@@ -189,6 +191,7 @@ int main(void)
                printf_P(PSTR("Bad eeprom value\r\n"));
                while(1);
        }
+#endif /* ! HOST_VERSION */
 
        /* LOGS */
        error_register_emerg(mylog);
@@ -197,6 +200,7 @@ int main(void)
        error_register_notice(mylog);
        error_register_debug(mylog);
 
+#ifndef HOST_VERSION
        /* SPI + ENCODERS */
        encoders_spi_init(); /* this will also init spi hardware */
 
@@ -211,14 +215,14 @@ int main(void)
        timer0_register_OV_intr(main_timer_interrupt);
 
        /* PWM */
-       PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10, 
+       PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
                                 TIMER1_PRESCALER_DIV_1);
-       PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10, 
+       PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
                                 TIMER4_PRESCALER_DIV_1);
-       
-       PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED | 
-                     PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
-       PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED | 
+
+       PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
+                     &PORTD, 4);
+       PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
                      PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
        PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
                      &PORTD, 6);
@@ -227,11 +231,11 @@ int main(void)
 
 
        /* servos */
-       PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10, 
+       PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
                                 TIMER1_PRESCALER_DIV_256);
        PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
                      NULL, 0);
-       PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10, 
+       PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
                                 TIMER1_PRESCALER_DIV_256);
        PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
                      NULL, 0);
@@ -239,16 +243,26 @@ int main(void)
                      NULL, 0);
        PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
                      NULL, 0);
+       support_balls_deploy(); /* init pwm for servos */
+#endif /* !HOST_VERSION */
 
        /* SCHEDULER */
        scheduler_init();
+#ifdef HOST_VERSION
+       hostsim_init();
+       robotsim_init();
+#endif
 
-       scheduler_add_periodical_event_priority(do_led_blink, NULL, 
-                                               100000L / SCHEDULER_UNIT, 
+#ifndef HOST_VERSION
+       scheduler_add_periodical_event_priority(do_led_blink, NULL,
+                                               100000L / SCHEDULER_UNIT,
                                                LED_PRIO);
+#endif /* !HOST_VERSION */
+
        /* all cs management */
        microb_cs_init();
 
+#ifndef HOST_VERSION
        /* sensors, will also init hardware adc */
        sensor_init();
 
@@ -258,6 +272,7 @@ int main(void)
        /* start i2c slave polling */
        scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
                                                8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
+#endif /* !HOST_VERSION */
 
        /* strat */
        gen.logs[0] = E_USER_STRAT;
@@ -269,17 +284,29 @@ int main(void)
                                                25000L / SCHEDULER_UNIT,
                                                STRAT_PRIO);
 
+#ifndef HOST_VERSION
        /* eeprom time monitor */
        scheduler_add_periodical_event_priority(do_time_monitor, NULL,
                                                1000000L / SCHEDULER_UNIT,
                                                EEPROM_TIME_PRIO);
+#endif /* !HOST_VERSION */
 
        sei();
 
        printf_P(PSTR("\r\n"));
        printf_P(PSTR("Respect et robustesse.\r\n"));
-       seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
-       printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
+#ifndef HOST_VERSION
+       {
+               uint16_t seconds;
+               seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
+               printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
+       }
+#endif
+
+#ifdef HOST_VERSION
+       strat_reset_pos(400, COLOR_Y(400), COLOR_A(-90));
+#endif
+
        cmdline_interact();
 
        return 0;