circuit strat, first version

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

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index aa76651..ce76583 100755 (executable)
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -59,14 +59,19 @@
 #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 "strat_db.h"
+#include "strat_avoid.h"
 #include "i2c_protocol.h"
 
+
 /* 0 means "programmed"
  * ---- with 16 Mhz quartz
  * CKSEL 3-0 : 0111
@@ -81,9 +86,10 @@
 
 struct genboard gen;
 struct mainboard mainboard;
-struct cobboard cobboard;
-struct ballboard ballboard;
+volatile struct cobboard cobboard;
+volatile struct ballboard ballboard;
 
+#ifndef HOST_VERSION
 /***********************/
 
 void bootloader(void)
@@ -130,9 +136,21 @@ void do_time_monitor(void *dummy)
 
 void do_led_blink(void *dummy)
 {
-#if 1 /* simple blink */
-       LED1_TOGGLE();
-#endif
+       static uint8_t a = 0;
+
+       if (mainboard.flags & DO_ERRBLOCKING) {
+               if (a & 1)
+                       LED1_ON();
+               else
+                       LED1_OFF();
+       }
+       else {
+               if (a & 4)
+                       LED1_ON();
+               else
+                       LED1_OFF();
+       }
+       a++;
 }
 
 static void main_timer_interrupt(void)
@@ -143,11 +161,11 @@ 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();
@@ -163,32 +181,38 @@ 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_CS | DO_RS |
-               DO_POS | DO_POWER | DO_BD;
+               DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
+       ballboard.lcob = I2C_COB_NONE;
+       ballboard.rcob = I2C_COB_NONE;
 
        /* 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);
        /* check eeprom to avoid to run the bad program */
        if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
            EEPROM_MAGIC_MAINBOARD) {
+               int c;
                sei();
-               printf_P(PSTR("Bad eeprom value\r\n"));
-               while(1);
+               printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
+               c = uart_recv(CMDLINE_UART);
+               if (c == 'f')
+                       eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
+               wait_ms(100);
+               bootloader();
        }
+#endif /* ! HOST_VERSION */
 
        /* LOGS */
        error_register_emerg(mylog);
@@ -197,6 +221,7 @@ 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 */
 
@@ -240,47 +265,70 @@ int main(void)
        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
 
+#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();
 
-       /* sensors, will also init hardware adc */
-       sensor_init();
-
        /* TIME */
        time_init(TIME_PRIO);
 
+#ifndef HOST_VERSION
+       /* sensors, will also init hardware adc */
+       sensor_init();
+
        /* 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;
        gen.log_level = 5;
-       strat_reset_infos();
+       strat_db_init();
+       test_strat_avoid();
 
        /* strat-related event */
        scheduler_add_periodical_event_priority(strat_event, NULL,
                                                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;