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 1.10 2009-11-08 17:24:33 zer0 Exp $
27 #include <aversive/pgmspace.h>
28 #include <aversive/wait.h>
29 #include <aversive/error.h>
30 #include <aversive/eeprom.h>
36 #include <encoders_spi.h>
39 #include <scheduler.h>
40 #include <clock_time.h>
45 #include <control_system_manager.h>
46 #include <trajectory_manager.h>
47 #include <vect_base.h>
50 #include <obstacle_avoidance.h>
51 #include <blocking_detection_manager.h>
52 #include <robot_system.h>
53 #include <position_manager.h>
58 #include "../common/eeprom_mapping.h"
59 #include "../common/i2c_commands.h"
62 #include "ax12_user.h"
68 #include "i2c_protocol.h"
70 /* 0 means "programmed"
71 * ---- with 16 Mhz quartz
76 * BOOTZ 1-0 : 01 (4K bootloader)
77 * BOOTRST : 0 (reset on bootloader)
83 struct mainboard mainboard;
84 struct cobboard cobboard;
85 struct ballboard ballboard;
87 /***********************/
91 #define BOOTLOADER_ADDR 0x3f000
92 if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
93 printf_P(PSTR("Bootloader is not present\r\n"));
98 /* ... very specific :( */
116 __asm__ __volatile__ ("ldi r31,0xf8\n");
117 __asm__ __volatile__ ("ldi r30,0x00\n");
118 __asm__ __volatile__ ("eijmp\n");
123 void do_time_monitor(void *dummy)
126 seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
128 eeprom_write_word(EEPROM_TIME_ADDRESS, seconds);
131 void do_led_blink(void *dummy)
133 #if 1 /* simple blink */
138 static void main_timer_interrupt(void)
140 static uint8_t cpt = 0;
143 if ((cpt & 0x3) == 0)
144 scheduler_interrupt();
155 /* CPLD reset on PG3 */
157 PORTG &= ~(1<<3); /* implicit */
167 memset(&gen, 0, sizeof(gen));
168 memset(&mainboard, 0, sizeof(mainboard));
169 mainboard.flags = DO_ENCODERS | DO_RS |
170 DO_POS | DO_POWER | DO_BD;
174 #if CMDLINE_UART == 3
175 fdevopen(uart3_dev_send, uart3_dev_recv);
176 uart_register_rx_event(3, emergency);
177 #elif CMDLINE_UART == 1
178 fdevopen(uart1_dev_send, uart1_dev_recv);
179 uart_register_rx_event(1, emergency);
181 # error not supported
184 eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
185 /* check eeprom to avoid to run the bad program */
186 if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
187 EEPROM_MAGIC_MAINBOARD) {
189 printf_P(PSTR("Bad eeprom value\r\n"));
194 error_register_emerg(mylog);
195 error_register_error(mylog);
196 error_register_warning(mylog);
197 error_register_notice(mylog);
198 error_register_debug(mylog);
201 encoders_spi_init(); /* this will also init spi hardware */
204 i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
206 i2c_register_recv_event(i2c_recvevent);
207 i2c_register_send_event(i2c_sendevent);
211 timer0_register_OV_intr(main_timer_interrupt);
214 PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
215 TIMER1_PRESCALER_DIV_1);
216 PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
217 TIMER4_PRESCALER_DIV_1);
219 PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
221 PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED |
222 PWM_NG_MODE_SIGN_INVERTED, &PORTD, 5);
223 PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
225 PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
230 PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
231 TIMER1_PRESCALER_DIV_256);
232 PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
234 PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
235 TIMER1_PRESCALER_DIV_256);
236 PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
238 PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
240 PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
242 support_balls_deploy(); /* init pwm for servos */
247 scheduler_add_periodical_event_priority(do_led_blink, NULL,
248 100000L / SCHEDULER_UNIT,
250 /* all cs management */
253 /* sensors, will also init hardware adc */
257 time_init(TIME_PRIO);
259 /* start i2c slave polling */
260 scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
261 8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
264 gen.logs[0] = E_USER_STRAT;
268 /* strat-related event */
269 scheduler_add_periodical_event_priority(strat_event, NULL,
270 25000L / SCHEDULER_UNIT,
273 /* eeprom time monitor */
274 scheduler_add_periodical_event_priority(do_time_monitor, NULL,
275 1000000L / SCHEDULER_UNIT,
280 printf_P(PSTR("\r\n"));
281 printf_P(PSTR("Respect et robustesse.\r\n"));
282 seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
283 printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);