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 static uint8_t a = 0;
120 if (cobboard.flags & DO_ERRBLOCKING) {
135 static void main_timer_interrupt(void)
137 static uint8_t cpt = 0;
140 if ((cpt & 0x3) == 0)
141 scheduler_interrupt();
150 /* CPLD reset on PG3 */
152 PORTG &= ~(1<<3); /* implicit */
158 memset(&gen, 0, sizeof(gen));
159 memset(&cobboard, 0, sizeof(cobboard));
160 /* cs is enabled after arm_calibrate() */
161 cobboard.flags = DO_ENCODERS | DO_POWER | DO_BD |
166 #if CMDLINE_UART == 3
167 fdevopen(uart3_dev_send, uart3_dev_recv);
168 uart_register_rx_event(3, emergency);
169 #elif CMDLINE_UART == 1
170 fdevopen(uart1_dev_send, uart1_dev_recv);
171 uart_register_rx_event(1, emergency);
173 # error not supported
176 /* check eeprom to avoid to run the bad program */
177 if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
178 EEPROM_MAGIC_COBBOARD) {
181 printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
182 c = uart_recv(CMDLINE_UART);
184 eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
190 error_register_emerg(mylog);
191 error_register_error(mylog);
192 error_register_warning(mylog);
193 error_register_notice(mylog);
194 error_register_debug(mylog);
197 encoders_spi_init(); /* this will also init spi hardware */
201 i2c_init(I2C_MODE_SLAVE, I2C_COBBOARD_ADDR);
202 i2c_register_recv_event(i2c_recvevent);
206 timer0_register_OV_intr(main_timer_interrupt);
209 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
210 TIMER1_PRESCALER_DIV_1);
211 PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
212 TIMER4_PRESCALER_DIV_1);
214 PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
215 PWM_NG_MODE_SIGN_INVERTED, &PORTD, 4);
216 PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
218 PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
220 PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
221 PWM_NG_MODE_SIGN_INVERTED,
226 PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
227 TIMER1_PRESCALER_DIV_256);
228 PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
230 PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
231 TIMER1_PRESCALER_DIV_256);
232 PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
234 PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
236 PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
242 scheduler_add_periodical_event_priority(do_led_blink, NULL,
243 100000L / SCHEDULER_UNIT,
245 /* all cs management */
248 /* sensors, will also init hardware adc */
252 time_init(TIME_PRIO);
259 printf_P(PSTR("cobboard start\r\n"));
264 /* spickle, shovel */
270 printf_P(PSTR("\r\n"));
271 printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
274 gen.logs[0] = E_USER_ST_MACH;
276 cobboard.flags |= DO_CS;
278 spickle_pack(I2C_LEFT_SIDE);
279 spickle_pack(I2C_RIGHT_SIDE);