-/*
+/*
* Copyright Droids Corporation
* Olivier Matz <zer0@droids-corp.org>
- *
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
#include "actuator.h"
#include "cs.h"
#include "i2c_protocol.h"
-#include "beacon.h"
-#include "scanner.h"
+#include "state.h"
/* 0 means "programmed"
* ---- with 16 Mhz quartz
* CKSEL 3-0 : 0111
- * SUT 1-0 : 10
+ * SUT 1-0 : 10
* CKDIV8 : 1
* ---- bootloader
* BOOTZ 1-0 : 01 (4K bootloader)
__asm__ __volatile__ ("ldi r31,0xf8\n");
__asm__ __volatile__ ("ldi r30,0x00\n");
__asm__ __volatile__ ("eijmp\n");
-
+
/* never returns */
}
void do_led_blink(__attribute__((unused)) void *dummy)
{
-#if 1 /* simple blink */
- static uint8_t a=0;
-
- if(a)
- LED1_ON();
- else
- LED1_OFF();
-
- a = !a;
-#endif
+ static uint8_t a = 0;
+
+ if (ballboard.flags & DO_ERRBLOCKING) {
+ if (a & 1)
+ LED1_ON();
+ else
+ LED1_OFF();
+ }
+ else {
+ if (a & 4)
+ LED1_ON();
+ else
+ LED1_OFF();
+ }
+ a++;
}
static void main_timer_interrupt(void)
LED1_OFF();
memset(&gen, 0, sizeof(gen));
memset(&ballboard, 0, sizeof(ballboard));
- ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER; // DO_BD
-
+ ballboard.flags = DO_ENCODERS | DO_CS | DO_POWER |
+ DO_ERRBLOCKING | DO_BD;
+
/* UART */
uart_init();
#if CMDLINE_UART == 3
# error not supported
#endif
- //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
/* check eeprom to avoid to run the bad program */
if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
EEPROM_MAGIC_BALLBOARD) {
+ int c;
sei();
- printf_P(PSTR("Bad eeprom value\r\n"));
- while(1);
+ printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
+ c = uart_recv(CMDLINE_UART);
+ if (c == 'f')
+ eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_BALLBOARD);
+ wait_ms(100);
+ bootloader();
}
/* LOGS */
timer0_register_OV_intr(main_timer_interrupt);
/* PWM */
- PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
+ PWM_NG_TIMER_16BITS_INIT(1, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_1);
- PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
+ PWM_NG_TIMER_16BITS_INIT(4, TIMER_16_MODE_PWM_10,
TIMER4_PRESCALER_DIV_1);
-
- PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED |
- PWM_NG_MODE_SIGN_INVERTED,
+
+ PWM_NG_INIT16(&gen.pwm1_4A, 4, A, 10, PWM_NG_MODE_SIGNED,
&PORTD, 4);
PWM_NG_INIT16(&gen.pwm2_4B, 4, B, 10, PWM_NG_MODE_SIGNED,
&PORTD, 5);
/* servos */
- PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
+ PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_256);
PWM_NG_INIT16(&gen.servo1, 3, C, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
- PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
+ PWM_NG_TIMER_16BITS_INIT(5, TIMER_16_MODE_PWM_10,
TIMER1_PRESCALER_DIV_256);
PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
NULL, 0);
PWM_NG_INIT16(&gen.servo4, 5, C, 10, PWM_NG_MODE_NORMAL,
NULL, 0);
-
+
/* SCHEDULER */
scheduler_init();
- scheduler_add_periodical_event_priority(do_led_blink, NULL,
- 100000L / SCHEDULER_UNIT,
+ scheduler_add_periodical_event_priority(do_led_blink, NULL,
+ 100000L / SCHEDULER_UNIT,
LED_PRIO);
/* all cs management */
microb_cs_init();
/* ax12 */
ax12_user_init();
+ gen.logs[0] = E_USER_ST_MACH;
+ gen.log_level = 5;
+
sei();
printf_P(PSTR("\r\n"));
printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
+
+ state_machine();
cmdline_interact();
return 0;