2 * Copyright Droids Corporation
3 * Olivier Matz <zer0@droids-corp.org>
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.
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.
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
19 * Revision : $Id: main.c,v 1.6 2009-11-08 17:25:00 zer0 Exp $
25 #include <avr/eeprom.h>
28 #include <aversive/pgmspace.h>
29 #include <aversive/wait.h>
30 #include <aversive/error.h>
36 #include <encoders_spi.h>
39 #include <scheduler.h>
40 #include <clock_time.h>
45 #include <control_system_manager.h>
46 #include <blocking_detection_manager.h>
51 #include "../common/eeprom_mapping.h"
52 #include "../common/i2c_commands.h"
55 #include "ax12_user.h"
63 #include "i2c_protocol.h"
65 /* 0 means "programmed"
66 * ---- with 16 Mhz quartz
71 * BOOTZ 1-0 : 01 (4K bootloader)
72 * BOOTRST : 0 (reset on bootloader)
78 struct cobboard cobboard;
80 /***********************/
84 #define BOOTLOADER_ADDR 0x3f000
85 if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
86 printf_P(PSTR("Bootloader is not present\r\n"));
91 /* ... very specific :( */
109 __asm__ __volatile__ ("ldi r31,0xf8\n");
110 __asm__ __volatile__ ("ldi r30,0x00\n");
111 __asm__ __volatile__ ("eijmp\n");
116 void do_led_blink(__attribute__((unused)) void *dummy)
118 #if 1 /* simple blink */
130 static void main_timer_interrupt(void)
132 static uint8_t cpt = 0;
135 if ((cpt & 0x3) == 0)
136 scheduler_interrupt();
145 /* CPLD reset on PG3 */
147 PORTG &= ~(1<<3); /* implicit */
153 memset(&gen, 0, sizeof(gen));
154 memset(&cobboard, 0, sizeof(cobboard));
155 /* cs is enabled after arm_calibrate() */
156 cobboard.flags = DO_ENCODERS | DO_POWER; // DO_BD
160 #if CMDLINE_UART == 3
161 fdevopen(uart3_dev_send, uart3_dev_recv);
162 uart_register_rx_event(3, emergency);
163 #elif CMDLINE_UART == 1
164 fdevopen(uart1_dev_send, uart1_dev_recv);
165 uart_register_rx_event(1, emergency);
167 # error not supported
170 //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
171 /* check eeprom to avoid to run the bad program */
172 if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
173 EEPROM_MAGIC_COBBOARD) {
175 printf_P(PSTR("Bad eeprom value\r\n"));
180 error_register_emerg(mylog);
181 error_register_error(mylog);
182 error_register_warning(mylog);
183 error_register_notice(mylog);
184 error_register_debug(mylog);
187 encoders_spi_init(); /* this will also init spi hardware */
191 i2c_init(I2C_MODE_SLAVE, I2C_COBBOARD_ADDR);
192 i2c_register_recv_event(i2c_recvevent);
196 timer0_register_OV_intr(main_timer_interrupt);
199 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
200 TIMER1_PRESCALER_DIV_1);
201 PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
202 TIMER4_PRESCALER_DIV_1);
204 PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
205 PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
206 PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
208 PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
210 PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
211 PWM_NG_MODE_SIGN_INVERTED,
216 PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
217 TIMER1_PRESCALER_DIV_256);
218 PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
220 PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
221 TIMER1_PRESCALER_DIV_256);
222 PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
224 PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
226 PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
232 scheduler_add_periodical_event_priority(do_led_blink, NULL,
233 100000L / SCHEDULER_UNIT,
235 /* all cs management */
238 /* sensors, will also init hardware adc */
242 time_init(TIME_PRIO);
252 /* spickle, shovel */
258 printf_P(PSTR("\r\n"));
259 printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
262 gen.logs[0] = E_USER_ST_MACH;
264 cobboard.flags |= DO_CS;
266 /* state_machine(); */