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>
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"
62 #include "i2c_protocol.h"
64 /* 0 means "programmed"
65 * ---- with 16 Mhz quartz
70 * BOOTZ 1-0 : 01 (4K bootloader)
71 * BOOTRST : 0 (reset on bootloader)
77 struct mechboard mechboard;
79 /***********************/
83 #define BOOTLOADER_ADDR 0x3f000
84 if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
85 printf_P(PSTR("Bootloader is not present\r\n"));
90 /* ... very specific :( */
108 __asm__ __volatile__ ("ldi r31,0xf8\n");
109 __asm__ __volatile__ ("ldi r30,0x00\n");
110 __asm__ __volatile__ ("eijmp\n");
115 void do_led_blink(__attribute__((unused)) void *dummy)
117 #if 1 /* simple blink */
129 static void main_timer_interrupt(void)
131 static uint8_t cpt = 0;
134 if ((cpt & 0x3) == 0)
135 scheduler_interrupt();
144 /* CPLD reset on PG3 */
146 PORTG &= ~(1<<3); /* implicit */
152 memset(&gen, 0, sizeof(gen));
153 memset(&mechboard, 0, sizeof(mechboard));
154 /* cs is enabled after arm_calibrate() */
155 mechboard.flags = DO_ENCODERS | DO_POWER; // DO_BD
159 #if CMDLINE_UART == 3
160 fdevopen(uart3_dev_send, uart3_dev_recv);
161 uart_register_rx_event(3, emergency);
162 #elif CMDLINE_UART == 1
163 fdevopen(uart1_dev_send, uart1_dev_recv);
164 uart_register_rx_event(1, emergency);
166 # error not supported
169 //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MECHBOARD);
170 /* check eeprom to avoid to run the bad program */
171 if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
172 EEPROM_MAGIC_MECHBOARD) {
174 printf_P(PSTR("Bad eeprom value\r\n"));
179 error_register_emerg(mylog);
180 error_register_error(mylog);
181 error_register_warning(mylog);
182 error_register_notice(mylog);
183 error_register_debug(mylog);
186 encoders_spi_init(); /* this will also init spi hardware */
190 i2c_init(I2C_MODE_SLAVE, I2C_MECHBOARD_ADDR);
191 i2c_register_recv_event(i2c_recvevent);
195 timer0_register_OV_intr(main_timer_interrupt);
198 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
199 TIMER1_PRESCALER_DIV_1);
200 PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
201 TIMER4_PRESCALER_DIV_1);
203 PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
205 PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
207 PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED |
208 PWM_NG_MODE_SIGN_INVERTED,
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);
249 /* finger + other actuators */
254 printf_P(PSTR("\r\n"));
255 printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
258 gen.logs[0] = E_USER_ST_MACH;
261 mechboard.flags |= DO_CS;
262 arm_do_xy(&left_arm, 60, -80, 0);
263 arm_do_xy(&right_arm, 60, -80, 0);