From c8bae2eb9f3084d53436bc6c9fee9952dfcc1fda Mon Sep 17 00:00:00 2001 From: zer0 Date: Sat, 3 Apr 2010 15:00:50 +0200 Subject: [PATCH] ballboard --- projects/microb2010/ballboard/Makefile | 6 +- projects/microb2010/ballboard/actuator.c | 50 +++ projects/microb2010/ballboard/actuator.h | 15 +- projects/microb2010/ballboard/commands.c | 16 + .../microb2010/ballboard/commands_ballboard.c | 285 +++++++++++++++++- projects/microb2010/ballboard/cs.c | 4 +- projects/microb2010/ballboard/i2c_protocol.c | 27 +- projects/microb2010/ballboard/main.c | 34 +-- projects/microb2010/ballboard/main.h | 2 +- projects/microb2010/common/i2c_commands.h | 16 +- 10 files changed, 415 insertions(+), 40 deletions(-) diff --git a/projects/microb2010/ballboard/Makefile b/projects/microb2010/ballboard/Makefile index afa396b..9f197fd 100644 --- a/projects/microb2010/ballboard/Makefile +++ b/projects/microb2010/ballboard/Makefile @@ -8,10 +8,10 @@ CFLAGS += -Werror LDFLAGS = -T ../common/avr6.x # List C source files here. (C dependencies are automatically generated.) -SRC = $(TARGET).c cmdline.c commands_ax12.c commands_gen.c +SRC = $(TARGET).c cmdline.c commands_ax12.c commands_gen.c SRC += commands_cs.c commands_ballboard.c commands.c SRC += i2c_protocol.c sensor.c actuator.c cs.c ax12_user.c - +SRC += state.c # List Assembler source files here. # Make them always end in a capital .S. Files ending in a lowercase .s @@ -20,7 +20,7 @@ SRC += i2c_protocol.c sensor.c actuator.c cs.c ax12_user.c # Even though the DOS/Win* filesystem matches both .s and .S the same, # it will preserve the spelling of the filenames, and gcc itself does # care about how the name is spelled on its command-line. -ASRC = +ASRC = ######################################## diff --git a/projects/microb2010/ballboard/actuator.c b/projects/microb2010/ballboard/actuator.c index 367e241..2509d7c 100644 --- a/projects/microb2010/ballboard/actuator.c +++ b/projects/microb2010/ballboard/actuator.c @@ -42,3 +42,53 @@ #include "main.h" +#define ROLLER_ON 800 +#define ROLLER_OFF 0 +#define ROLLER_REVERSE -800 + +#define FORKROT_DEPLOYED 1000 +#define FORKROT_PACKED 0 + +#define FORKTRANS_LEFT 0 +#define FORKTRANS_MIDDLE 500 +#define FORKTRANS_RIGHT 1000 + +void roller_on(void) +{ + cs_set_consign(&ballboard.roller.cs, ROLLER_ON); +} + +void roller_off(void) +{ + cs_set_consign(&ballboard.roller.cs, ROLLER_OFF); +} + +void roller_reverse(void) +{ + cs_set_consign(&ballboard.roller.cs, ROLLER_REVERSE); +} + +void fork_deploy(void) +{ + cs_set_consign(&ballboard.forkrot.cs, FORKROT_DEPLOYED); +} + +void fork_pack(void) +{ + cs_set_consign(&ballboard.forkrot.cs, FORKROT_PACKED); +} + +void fork_left(void) +{ + cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_LEFT); +} + +void fork_right(void) +{ + cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_RIGHT); +} + +void fork_middle(void) +{ + cs_set_consign(&ballboard.forktrans.cs, FORKTRANS_MIDDLE); +} diff --git a/projects/microb2010/ballboard/actuator.h b/projects/microb2010/ballboard/actuator.h index a6320be..34bd4ef 100644 --- a/projects/microb2010/ballboard/actuator.h +++ b/projects/microb2010/ballboard/actuator.h @@ -1,6 +1,6 @@ -/* - * Copyright Droids Corporation (2009) - * +/* + * Copyright Droids Corporation (2010) + * * 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 @@ -19,3 +19,12 @@ * */ +void roller_on(void); +void roller_off(void); +void roller_reverse(void); + +void fork_deploy(void); +void fork_pack(void); +void fork_left(void); +void fork_right(void); +void fork_middle(void); diff --git a/projects/microb2010/ballboard/commands.c b/projects/microb2010/ballboard/commands.c index 9ab33ad..7273855 100644 --- a/projects/microb2010/ballboard/commands.c +++ b/projects/microb2010/ballboard/commands.c @@ -62,6 +62,14 @@ extern parse_pgm_inst_t cmd_blocking_i_show; /* commands_ballboard.c */ extern parse_pgm_inst_t cmd_event; +extern parse_pgm_inst_t cmd_color; +extern parse_pgm_inst_t cmd_state1; +extern parse_pgm_inst_t cmd_state2; +extern parse_pgm_inst_t cmd_state3; +extern parse_pgm_inst_t cmd_state_debug; +extern parse_pgm_inst_t cmd_state_machine; +extern parse_pgm_inst_t cmd_fork; +extern parse_pgm_inst_t cmd_roller; extern parse_pgm_inst_t cmd_test; /* in progmem */ @@ -105,6 +113,14 @@ parse_pgm_ctx_t main_ctx[] = { /* commands_ballboard.c */ (parse_pgm_inst_t *)&cmd_event, + (parse_pgm_inst_t *)&cmd_color, + (parse_pgm_inst_t *)&cmd_state1, + (parse_pgm_inst_t *)&cmd_state2, + (parse_pgm_inst_t *)&cmd_state3, + (parse_pgm_inst_t *)&cmd_state_debug, + (parse_pgm_inst_t *)&cmd_state_machine, + (parse_pgm_inst_t *)&cmd_fork, + (parse_pgm_inst_t *)&cmd_roller, (parse_pgm_inst_t *)&cmd_test, NULL, diff --git a/projects/microb2010/ballboard/commands_ballboard.c b/projects/microb2010/ballboard/commands_ballboard.c index cae215e..fd45914 100644 --- a/projects/microb2010/ballboard/commands_ballboard.c +++ b/projects/microb2010/ballboard/commands_ballboard.c @@ -44,6 +44,7 @@ #include #include "main.h" +#include "state.h" #include "cmdline.h" #include "../common/i2c_commands.h" #include "i2c_protocol.h" @@ -167,6 +168,289 @@ parse_pgm_inst_t cmd_color = { }; +/**********************************************************/ +/* State1 */ + +/* this structure is filled when cmd_state1 is parsed successfully */ +struct cmd_state1_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_state1 is parsed successfully */ +static void cmd_state1_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_state1_result *res = parsed_result; + + if (!strcmp_P(res->arg1, PSTR("init"))) + state_init(); + else if (!strcmp_P(res->arg1, PSTR("off"))) + state_set_mode(I2C_BALLBOARD_MODE_OFF); + else if (!strcmp_P(res->arg1, PSTR("eject"))) + state_set_mode(I2C_BALLBOARD_MODE_EJECT); + else if (!strcmp_P(res->arg1, PSTR("harvest"))) + state_set_mode(I2C_BALLBOARD_MODE_HARVEST); + + /* other commands */ +} + +prog_char str_state1_arg0[] = "ballboard"; +parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0); +prog_char str_state1_arg1[] = "init#eject#harvest#off"; +parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1); + +prog_char help_state1[] = "set ballboard mode"; +parse_pgm_inst_t cmd_state1 = { + .f = cmd_state1_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state1, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state1_arg0, + (prog_void *)&cmd_state1_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* State2 */ + +/* this structure is filled when cmd_state2 is parsed successfully */ +struct cmd_state2_result { + fixed_string_t arg0; + fixed_string_t arg1; + fixed_string_t arg2; +}; + +/* function called when cmd_state2 is parsed successfully */ +static void cmd_state2_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_state2_result *res = parsed_result; + uint8_t mode; + + if (!strcmp_P(res->arg2, PSTR("left"))) { + if (!strcmp_P(res->arg1, PSTR("prepare"))) + mode = I2C_BALLBOARD_MODE_PREP_L_FORK; + else if (!strcmp_P(res->arg1, PSTR("take"))) + mode = I2C_BALLBOARD_MODE_TAKE_L_FORK; + } + else { + if (!strcmp_P(res->arg1, PSTR("prepare"))) + mode = I2C_BALLBOARD_MODE_PREP_R_FORK; + else if (!strcmp_P(res->arg1, PSTR("take"))) + mode = I2C_BALLBOARD_MODE_TAKE_R_FORK; + } + //state_set_mode(mode); +} + +prog_char str_state2_arg0[] = "ballboard"; +parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0); +prog_char str_state2_arg1[] = "prepare#take"; +parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1); +prog_char str_state2_arg2[] = "left#right"; +parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2); + +prog_char help_state2[] = "set ballboard mode"; +parse_pgm_inst_t cmd_state2 = { + .f = cmd_state2_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state2, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state2_arg0, + (prog_void *)&cmd_state2_arg1, + (prog_void *)&cmd_state2_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* State3 */ + +/* this structure is filled when cmd_state3 is parsed successfully */ +struct cmd_state3_result { + fixed_string_t arg0; + fixed_string_t arg1; + uint8_t arg2; +}; + +/* function called when cmd_state3 is parsed successfully */ +static void cmd_state3_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_state3_result *res = parsed_result; + + if (!strcmp_P(res->arg1, PSTR("xxx"))) { + /* xxx = res->arg2 */ + } + else if (!strcmp_P(res->arg1, PSTR("yyy"))) { + } + state_set_mode(0); +} + +prog_char str_state3_arg0[] = "ballboard"; +parse_pgm_token_string_t cmd_state3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg0, str_state3_arg0); +prog_char str_state3_arg1[] = "xxx"; +parse_pgm_token_string_t cmd_state3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state3_result, arg1, str_state3_arg1); +parse_pgm_token_num_t cmd_state3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_state3_result, arg2, UINT8); + +prog_char help_state3[] = "set ballboard mode"; +parse_pgm_inst_t cmd_state3 = { + .f = cmd_state3_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state3, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state3_arg0, + (prog_void *)&cmd_state3_arg1, + (prog_void *)&cmd_state3_arg2, + NULL, + }, +}; + +/**********************************************************/ +/* State_Machine */ + +/* this structure is filled when cmd_state_machine is parsed successfully */ +struct cmd_state_machine_result { + fixed_string_t arg0; +}; + +/* function called when cmd_state_machine is parsed successfully */ +static void cmd_state_machine_parsed(__attribute__((unused)) void *parsed_result, + __attribute__((unused)) void *data) +{ + state_machine(); +} + +prog_char str_state_machine_arg0[] = "state_machine"; +parse_pgm_token_string_t cmd_state_machine_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_machine_result, arg0, str_state_machine_arg0); + +prog_char help_state_machine[] = "launch state machine"; +parse_pgm_inst_t cmd_state_machine = { + .f = cmd_state_machine_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state_machine, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state_machine_arg0, + NULL, + }, +}; + +/**********************************************************/ +/* State_Debug */ + +/* this structure is filled when cmd_state_debug is parsed successfully */ +struct cmd_state_debug_result { + fixed_string_t arg0; + uint8_t on; +}; + +/* function called when cmd_state_debug is parsed successfully */ +static void cmd_state_debug_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_state_debug_result *res = parsed_result; + state_debug = res->on; +} + +prog_char str_state_debug_arg0[] = "state_debug"; +parse_pgm_token_string_t cmd_state_debug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state_debug_result, arg0, str_state_debug_arg0); +parse_pgm_token_num_t cmd_state_debug_on = TOKEN_NUM_INITIALIZER(struct cmd_state_debug_result, on, UINT8); + +prog_char help_state_debug[] = "Set debug for state machine"; +parse_pgm_inst_t cmd_state_debug = { + .f = cmd_state_debug_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_state_debug, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_state_debug_arg0, + (prog_void *)&cmd_state_debug_on, + NULL, + }, +}; + +/**********************************************************/ +/* Fork */ + +/* this structure is filled when cmd_fork is parsed successfully */ +struct cmd_fork_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_fork is parsed successfully */ +static void cmd_fork_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_fork_result *res = parsed_result; + if (!strcmp_P(res->arg1, PSTR("deploy"))) + fork_deploy(); + else if (!strcmp_P(res->arg1, PSTR("pack"))) + fork_pack(); + else if (!strcmp_P(res->arg1, PSTR("left"))) + fork_left(); + else if (!strcmp_P(res->arg1, PSTR("right"))) + fork_right(); + else if (!strcmp_P(res->arg1, PSTR("middle"))) + fork_middle(); +} + +prog_char str_fork_arg0[] = "fork"; +parse_pgm_token_string_t cmd_fork_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg0, str_fork_arg0); +prog_char str_fork_arg1[] = "deploy#pack#left#right#middle"; +parse_pgm_token_string_t cmd_fork_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg1, str_fork_arg1); + +prog_char help_fork[] = "move fork"; +parse_pgm_inst_t cmd_fork = { + .f = cmd_fork_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_fork, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_fork_arg0, + (prog_void *)&cmd_fork_arg1, + NULL, + }, +}; + +/**********************************************************/ +/* Roller */ + +/* this structure is filled when cmd_roller is parsed successfully */ +struct cmd_roller_result { + fixed_string_t arg0; + fixed_string_t arg1; +}; + +/* function called when cmd_roller is parsed successfully */ +static void cmd_roller_parsed(void *parsed_result, + __attribute__((unused)) void *data) +{ + struct cmd_roller_result *res = parsed_result; + if (!strcmp_P(res->arg1, PSTR("on"))) + roller_on(); + else if (!strcmp_P(res->arg1, PSTR("off"))) + roller_off(); + else if (!strcmp_P(res->arg1, PSTR("reverse"))) + roller_reverse(); +} + +prog_char str_roller_arg0[] = "roller"; +parse_pgm_token_string_t cmd_roller_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_roller_result, arg0, str_roller_arg0); +prog_char str_roller_arg1[] = "on#off#reverse"; +parse_pgm_token_string_t cmd_roller_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_roller_result, arg1, str_roller_arg1); + +prog_char help_roller[] = "Servo door function"; +parse_pgm_inst_t cmd_roller = { + .f = cmd_roller_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_roller, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_roller_arg0, + (prog_void *)&cmd_roller_arg1, + NULL, + }, +}; + /**********************************************************/ /* Test */ @@ -179,7 +463,6 @@ struct cmd_test_result { static void cmd_test_parsed(void *parsed_result, void *data) { //struct cmd_test_result *res = parsed_result; - } prog_char str_test_arg0[] = "test"; diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c index 7e87fca..a82f3f4 100644 --- a/projects/microb2010/ballboard/cs.c +++ b/projects/microb2010/ballboard/cs.c @@ -57,7 +57,7 @@ int32_t encoders_spi_update_roller_speed(void *number) } /* called every 5 ms */ -static void do_cs(void *dummy) +static void do_cs(void *dummy) { /* read encoders */ if (ballboard.flags & DO_ENCODERS) { @@ -177,7 +177,7 @@ void microb_cs_init(void) ballboard.forkrot.on = 1; - scheduler_add_periodical_event_priority(do_cs, NULL, + scheduler_add_periodical_event_priority(do_cs, NULL, 5000L / SCHEDULER_UNIT, CS_PRIO); } diff --git a/projects/microb2010/ballboard/i2c_protocol.c b/projects/microb2010/ballboard/i2c_protocol.c index 8995e55..f9e9b55 100644 --- a/projects/microb2010/ballboard/i2c_protocol.c +++ b/projects/microb2010/ballboard/i2c_protocol.c @@ -46,6 +46,7 @@ #include "../common/i2c_commands.h" #include "main.h" +#include "state.h" #include "actuator.h" void i2c_protocol_init(void) @@ -73,11 +74,18 @@ void i2c_send_status(void) i2c_flush(); ans.hdr.cmd = I2C_ANS_BALLBOARD_STATUS; ans.status = 0x55; /* XXX */ + ans.ball_count = state_get_ball_count(); i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans, sizeof(ans), I2C_CTRL_GENERIC); } +static int8_t i2c_set_mode(struct i2c_cmd_ballboard_set_mode *cmd) +{ + state_set_mode(cmd->mode); + return 0; +} + void i2c_recvevent(uint8_t * buf, int8_t size) { void *void_cmd = buf; @@ -91,11 +99,11 @@ void i2c_recvevent(uint8_t * buf, int8_t size) if (size <= 0) { goto error; } - + switch (buf[0]) { /* Commands (no answer needed) */ - case I2C_CMD_GENERIC_LED_CONTROL: + case I2C_CMD_GENERIC_LED_CONTROL: { struct i2c_cmd_led_control *cmd = void_cmd; if (size != sizeof (*cmd)) @@ -103,7 +111,7 @@ void i2c_recvevent(uint8_t * buf, int8_t size) i2c_led_control(cmd->led_num, cmd->state); break; } - + case I2C_CMD_GENERIC_SET_COLOR: { struct i2c_cmd_generic_color *cmd = void_cmd; @@ -113,16 +121,25 @@ void i2c_recvevent(uint8_t * buf, int8_t size) break; } + case I2C_CMD_BALLBOARD_SET_MODE: + { + struct i2c_cmd_ballboard_set_mode *cmd = void_cmd; + if (size != sizeof(struct i2c_cmd_ballboard_set_mode)) + goto error; + i2c_set_mode(cmd); + break; + } + /* Add other commands here ...*/ case I2C_REQ_BALLBOARD_STATUS: { - struct i2c_req_ballboard_status *cmd = void_cmd; + struct i2c_req_ballboard_status *cmd = void_cmd; if (size != sizeof (*cmd)) goto error; - + i2c_send_status(); break; } diff --git a/projects/microb2010/ballboard/main.c b/projects/microb2010/ballboard/main.c index 46a3b52..9633368 100755 --- a/projects/microb2010/ballboard/main.c +++ b/projects/microb2010/ballboard/main.c @@ -1,7 +1,7 @@ -/* +/* * Copyright Droids Corporation * Olivier Matz - * + * * 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 @@ -58,13 +58,11 @@ #include "actuator.h" #include "cs.h" #include "i2c_protocol.h" -#include "beacon.h" -#include "scanner.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) @@ -108,7 +106,7 @@ void bootloader(void) __asm__ __volatile__ ("ldi r31,0xf8\n"); __asm__ __volatile__ ("ldi r30,0x00\n"); __asm__ __volatile__ ("eijmp\n"); - + /* never returns */ } @@ -121,7 +119,7 @@ void do_led_blink(__attribute__((unused)) void *dummy) LED1_ON(); else LED1_OFF(); - + a = !a; #endif } @@ -152,7 +150,7 @@ int main(void) memset(&gen, 0, sizeof(gen)); memset(&ballboard, 0, sizeof(ballboard)); ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER; // DO_BD - + /* UART */ uart_init(); #if CMDLINE_UART == 3 @@ -165,7 +163,7 @@ int main(void) # error not supported #endif - //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD); + eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD); /* check eeprom to avoid to run the bad program */ if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) != EEPROM_MAGIC_BALLBOARD) { @@ -194,12 +192,12 @@ 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_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, @@ -211,11 +209,11 @@ 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); @@ -223,12 +221,12 @@ int main(void) NULL, 0); PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL, NULL, 0); - + /* SCHEDULER */ scheduler_init(); - scheduler_add_periodical_event_priority(do_led_blink, NULL, - 100000L / SCHEDULER_UNIT, + scheduler_add_periodical_event_priority(do_led_blink, NULL, + 100000L / SCHEDULER_UNIT, LED_PRIO); /* all cs management */ microb_cs_init(); diff --git a/projects/microb2010/ballboard/main.h b/projects/microb2010/ballboard/main.h index 36915bd..3ebb1e7 100755 --- a/projects/microb2010/ballboard/main.h +++ b/projects/microb2010/ballboard/main.h @@ -91,7 +91,7 @@ struct genboard { struct pwm_ng servo2; struct pwm_ng servo3; struct pwm_ng servo4; - + /* ax12 interface */ AX12 ax12; diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h index d08e580..87f98c7 100644 --- a/projects/microb2010/common/i2c_commands.h +++ b/projects/microb2010/common/i2c_commands.h @@ -85,13 +85,14 @@ struct i2c_cmd_cobboard_set_mode { struct i2c_cmd_ballboard_set_mode { struct i2c_cmd_hdr hdr; -#define I2C_BALLBOARD_MODE_OFF 0x00 -#define I2C_BALLBOARD_MODE_HARVEST 0x01 -#define I2C_BALLBOARD_MODE_EJECT 0x02 -#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x03 -#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x04 -#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x05 -#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x06 +#define I2C_BALLBOARD_MODE_INIT 0x00 +#define I2C_BALLBOARD_MODE_OFF 0x01 +#define I2C_BALLBOARD_MODE_HARVEST 0x02 +#define I2C_BALLBOARD_MODE_EJECT 0x03 +#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x04 +#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x05 +#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x06 +#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x07 uint8_t mode; }; @@ -136,6 +137,7 @@ struct i2c_req_ballboard_status { struct i2c_ans_ballboard_status { struct i2c_cmd_hdr hdr; + uint8_t mode; #define I2C_BALLBOARD_STATUS_F_READY 0x00 #define I2C_BALLBOARD_STATUS_F_BUSY 0x01 -- 2.20.1