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 1.4 2009-05-27 20:04:07 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"
60 #include "i2c_protocol.h"
62 /* 0 means "programmed"
63 * ---- with 16 Mhz quartz
68 * BOOTZ 1-0 : 01 (4K bootloader)
69 * BOOTRST : 0 (reset on bootloader)
75 struct ballboard ballboard;
77 /***********************/
81 #define BOOTLOADER_ADDR 0x3f000
82 if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
83 printf_P(PSTR("Bootloader is not present\r\n"));
88 /* ... very specific :( */
106 __asm__ __volatile__ ("ldi r31,0xf8\n");
107 __asm__ __volatile__ ("ldi r30,0x00\n");
108 __asm__ __volatile__ ("eijmp\n");
113 void do_led_blink(__attribute__((unused)) void *dummy)
115 #if 1 /* simple blink */
127 static void main_timer_interrupt(void)
129 static uint8_t cpt = 0;
132 if ((cpt & 0x3) == 0)
133 scheduler_interrupt();
142 /* CPLD reset on PG3 */
144 PORTG &= ~(1<<3); /* implicit */
150 memset(&gen, 0, sizeof(gen));
151 memset(&ballboard, 0, sizeof(ballboard));
152 ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER; // DO_BD
156 #if CMDLINE_UART == 3
157 fdevopen(uart3_dev_send, uart3_dev_recv);
158 uart_register_rx_event(3, emergency);
159 #elif CMDLINE_UART == 1
160 fdevopen(uart1_dev_send, uart1_dev_recv);
161 uart_register_rx_event(1, emergency);
163 # error not supported
166 eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
167 /* check eeprom to avoid to run the bad program */
168 if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
169 EEPROM_MAGIC_BALLBOARD) {
171 printf_P(PSTR("Bad eeprom value\r\n"));
176 error_register_emerg(mylog);
177 error_register_error(mylog);
178 error_register_warning(mylog);
179 error_register_notice(mylog);
180 error_register_debug(mylog);
183 encoders_spi_init(); /* this will also init spi hardware */
187 i2c_init(I2C_MODE_SLAVE, I2C_BALLBOARD_ADDR);
188 i2c_register_recv_event(i2c_recvevent);
192 timer0_register_OV_intr(main_timer_interrupt);
195 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
196 TIMER1_PRESCALER_DIV_1);
197 PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
198 TIMER4_PRESCALER_DIV_1);
200 PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
201 PWM_NG_MODE_SIGN_INVERTED,
203 PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
205 PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
207 PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
212 PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
213 TIMER1_PRESCALER_DIV_256);
214 PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
216 PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
217 TIMER1_PRESCALER_DIV_256);
218 PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
220 PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
222 PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
228 scheduler_add_periodical_event_priority(do_led_blink, NULL,
229 100000L / SCHEDULER_UNIT,
231 /* all cs management */
234 /* sensors, will also init hardware adc */
238 time_init(TIME_PRIO);
245 printf_P(PSTR("\r\n"));
246 printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));