projects/microb2010/mainboard/main.c

   1 /*
   2  *  Copyright Droids Corporation
   3  *  Olivier Matz <zer0@droids-corp.org>
   4  *
   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.
   9  *
  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.
  14  *
  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
  18  *
  19  *  Revision : $Id: main.c,v 1.10 2009-11-08 17:24:33 zer0 Exp $
  20  *
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive.h>
  27 #include <aversive/pgmspace.h>
  28 #include <aversive/wait.h>
  29 #include <aversive/error.h>
  30 #include <aversive/eeprom.h>
  31
  32 #include <ax12.h>
  33 #include <uart.h>
  34 #include <spi.h>
  35 #include <i2c.h>
  36 #include <encoders_spi.h>
  37 #include <pwm_ng.h>
  38 #include <timer.h>
  39 #include <scheduler.h>
  40 #include <clock_time.h>
  41 #include <adc.h>
  42
  43 #include <pid.h>
  44 #include <quadramp.h>
  45 #include <control_system_manager.h>
  46 #include <trajectory_manager.h>
  47 #include <vect_base.h>
  48 #include <lines.h>
  49 #include <polygon.h>
  50 #include <obstacle_avoidance.h>
  51 #include <blocking_detection_manager.h>
  52 #include <robot_system.h>
  53 #include <position_manager.h>
  54
  55 #include <parse.h>
  56 #include <rdline.h>
  57
  58 #include "../common/eeprom_mapping.h"
  59 #include "../common/i2c_commands.h"
  60
  61 #include "main.h"
  62 #include "ax12_user.h"
  63 #include "strat.h"
  64 #include "cmdline.h"
  65 #include "sensor.h"
  66 #include "actuator.h"
  67 #include "cs.h"
  68 #include "i2c_protocol.h"
  69
  70 /* 0 means "programmed"
  71  * ---- with 16 Mhz quartz
  72  * CKSEL 3-0 : 0111
  73  * SUT 1-0 : 10
  74  * CKDIV8 : 1
  75  * ---- bootloader
  76  * BOOTZ 1-0 : 01 (4K bootloader)
  77  * BOOTRST : 0 (reset on bootloader)
  78  * ---- jtag
  79  * jtagen : 0
  80  */
  81
  82 struct genboard gen;
  83 struct mainboard mainboard;
  84 struct cobboard cobboard;
  85 struct ballboard ballboard;
  86
  87 /***********************/
  88
  89 void bootloader(void)
  90 {
  91 #define BOOTLOADER_ADDR 0x3f000
  92         if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
  93                 printf_P(PSTR("Bootloader is not present\r\n"));
  94                 return;
  95         }
  96         cli();
  97         BRAKE_ON();
  98         /* ... very specific :( */
  99         TIMSK0 = 0;
 100         TIMSK1 = 0;
 101         TIMSK2 = 0;
 102         TIMSK3 = 0;
 103         TIMSK4 = 0;
 104         TIMSK5 = 0;
 105         EIMSK = 0;
 106         UCSR0B = 0;
 107         UCSR1B = 0;
 108         UCSR2B = 0;
 109         UCSR3B = 0;
 110         SPCR = 0;
 111         TWCR = 0;
 112         ACSR = 0;
 113         ADCSRA = 0;
 114
 115         EIND = 1;
 116         __asm__ __volatile__ ("ldi r31,0xf8\n");
 117         __asm__ __volatile__ ("ldi r30,0x00\n");
 118         __asm__ __volatile__ ("eijmp\n");
 119
 120         /* never returns */
 121 }
 122
 123 void do_time_monitor(void *dummy)
 124 {
 125         uint16_t seconds;
 126         seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
 127         seconds ++;
 128         eeprom_write_word(EEPROM_TIME_ADDRESS, seconds);
 129 }
 130
 131 void do_led_blink(void *dummy)
 132 {
 133 #if 1 /* simple blink */
 134         LED1_TOGGLE();
 135 #endif
 136 }
 137
 138 static void main_timer_interrupt(void)
 139 {
 140         static uint8_t cpt = 0;
 141         cpt++;
 142         sei();
 143         if ((cpt & 0x3) == 0)
 144                 scheduler_interrupt();
 145 }
 146
 147 int main(void)
 148 {
 149         uint16_t seconds;
 150
 151         /* brake */
 152         BRAKE_DDR();
 153         BRAKE_OFF();
 154
 155         /* CPLD reset on PG3 */
 156         DDRG |= 1<<3;
 157         PORTG &= ~(1<<3); /* implicit */
 158
 159         /* LEDS */
 160         DDRJ |= 0x0c;
 161         DDRL = 0xc0;
 162         LED1_OFF();
 163         LED2_OFF();
 164         LED3_OFF();
 165         LED4_OFF();
 166
 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;
 171
 172         /* UART */
 173         uart_init();
 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);
 180 #else
 181 #  error not supported
 182 #endif
 183
 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) {
 188                 sei();
 189                 printf_P(PSTR("Bad eeprom value\r\n"));
 190                 while(1);
 191         }
 192
 193         /* LOGS */
 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);
 199
 200         /* SPI + ENCODERS */
 201         encoders_spi_init(); /* this will also init spi hardware */
 202
 203         /* I2C */
 204         i2c_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
 205         i2c_protocol_init();
 206         i2c_register_recv_event(i2c_recvevent);
 207         i2c_register_send_event(i2c_sendevent);
 208
 209         /* TIMER */
 210         timer_init();
 211         timer0_register_OV_intr(main_timer_interrupt);
 212
 213         /* PWM */
 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);
 218
 219         PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
 220                       &PORTD, 4);
 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,
 224                       &PORTD, 6);
 225         PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
 226                       &PORTD, 7);
 227
 228
 229         /* servos */
 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,
 233                       NULL, 0);
 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,
 237                       NULL, 0);
 238         PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
 239                       NULL, 0);
 240         PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
 241                       NULL, 0);
 242         support_balls_deploy(); /* init pwm for servos */
 243
 244         /* SCHEDULER */
 245         scheduler_init();
 246
 247         scheduler_add_periodical_event_priority(do_led_blink, NULL,
 248                                                 100000L / SCHEDULER_UNIT,
 249                                                 LED_PRIO);
 250         /* all cs management */
 251         microb_cs_init();
 252
 253         /* sensors, will also init hardware adc */
 254         sensor_init();
 255
 256         /* TIME */
 257         time_init(TIME_PRIO);
 258
 259         /* start i2c slave polling */
 260         scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
 261                                                 8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
 262
 263         /* strat */
 264         gen.logs[0] = E_USER_STRAT;
 265         gen.log_level = 5;
 266         strat_reset_infos();
 267
 268         /* strat-related event */
 269         scheduler_add_periodical_event_priority(strat_event, NULL,
 270                                                 25000L / SCHEDULER_UNIT,
 271                                                 STRAT_PRIO);
 272
 273         /* eeprom time monitor */
 274         scheduler_add_periodical_event_priority(do_time_monitor, NULL,
 275                                                 1000000L / SCHEDULER_UNIT,
 276                                                 EEPROM_TIME_PRIO);
 277
 278         sei();
 279
 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);
 284         cmdline_interact();
 285
 286         return 0;
 287 }