X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=14a2aad68ef5b18d140a0fb932e27dc6070c952a;hp=aa766514f81a4ae9f1f6988c80e85566a88f60ee;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=bb790b7c2a31fb94f505193e872f787e2def9d89

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
index aa76651..14a2aad 100755
--- a/projects/microb2010/mainboard/main.c
+++ b/projects/microb2010/mainboard/main.c
@@ -59,12 +59,15 @@
 #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 "i2c_protocol.h"
 
 /* 0 means "programmed"
@@ -81,9 +84,10 @@
 
 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 +134,21 @@ 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 +159,11 @@ 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();
@@ -163,25 +179,24 @@ 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;
 
 	/* 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);
+	//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) {
@@ -189,6 +204,7 @@ int main(void)
 		printf_P(PSTR("Bad eeprom value\r\n"));
 		while(1);
 	}
+#endif /* ! HOST_VERSION */
 
 	/* LOGS */
 	error_register_emerg(mylog);
@@ -197,6 +213,7 @@ 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 +257,69 @@ 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();
 
 	/* strat-related event */
 	scheduler_add_periodical_event_priority(strat_event, NULL,
-						25000L / SCHEDULER_UNIT,
+						10000L / 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;