--- /dev/null
+/*
+ * 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
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: main.c,v 1.6 2009-11-08 17:25:00 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <avr/eeprom.h>
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <spi.h>
+#include <i2c.h>
+#include <encoders_spi.h>
+#include <pwm_ng.h>
+#include <timer.h>
+#include <scheduler.h>
+#include <clock_time.h>
+#include <adc.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <blocking_detection_manager.h>
+
+#include <parse.h>
+#include <rdline.h>
+
+#include "../common/eeprom_mapping.h"
+#include "../common/i2c_commands.h"
+
+#include "main.h"
+#include "ax12_user.h"
+#include "cmdline.h"
+#include "sensor.h"
+#include "state.h"
+#include "actuator.h"
+#include "arm_xy.h"
+#include "cs.h"
+#include "i2c_protocol.h"
+
+/* 0 means "programmed"
+ * ---- with 16 Mhz quartz
+ * CKSEL 3-0 : 0111
+ * SUT 1-0 : 10
+ * CKDIV8 : 1
+ * ---- bootloader
+ * BOOTZ 1-0 : 01 (4K bootloader)
+ * BOOTRST : 0 (reset on bootloader)
+ * ---- jtag
+ * jtagen : 0
+ */
+
+struct genboard gen;
+struct cobboard cobboard;
+
+/***********************/
+
+void bootloader(void)
+{
+#define BOOTLOADER_ADDR 0x3f000
+ if (pgm_read_byte_far(BOOTLOADER_ADDR) == 0xff) {
+ printf_P(PSTR("Bootloader is not present\r\n"));
+ return;
+ }
+ cli();
+ BRAKE_ON();
+ /* ... very specific :( */
+ TIMSK0 = 0;
+ TIMSK1 = 0;
+ TIMSK2 = 0;
+ TIMSK3 = 0;
+ TIMSK4 = 0;
+ TIMSK5 = 0;
+ EIMSK = 0;
+ UCSR0B = 0;
+ UCSR1B = 0;
+ UCSR2B = 0;
+ UCSR3B = 0;
+ SPCR = 0;
+ TWCR = 0;
+ ACSR = 0;
+ ADCSRA = 0;
+
+ EIND = 1;
+ __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 void main_timer_interrupt(void)
+{
+ static uint8_t cpt = 0;
+ cpt++;
+ sei();
+ if ((cpt & 0x3) == 0)
+ scheduler_interrupt();
+}
+
+int main(void)
+{
+ /* brake */
+ BRAKE_ON();
+ BRAKE_DDR();
+
+ /* CPLD reset on PG3 */
+ DDRG |= 1<<3;
+ PORTG &= ~(1<<3); /* implicit */
+
+ /* LEDS */
+ DDRJ |= 0x0c;
+ DDRL = 0xc0;
+ LED1_OFF();
+ memset(&gen, 0, sizeof(gen));
+ memset(&cobboard, 0, sizeof(cobboard));
+ /* cs is enabled after arm_calibrate() */
+ cobboard.flags = DO_ENCODERS | DO_POWER; // DO_BD
+
+ /* UART */
+ uart_init();
+#if CMDLINE_UART == 3
+ fdevopen(uart3_dev_send, uart3_dev_recv);
+ uart_register_rx_event(3, emergency);
+#elif CMDLINE_UART == 1
+ fdevopen(uart1_dev_send, uart1_dev_recv);
+ uart_register_rx_event(1, emergency);
+#else
+# error not supported
+#endif
+
+ //eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_COBBOARD);
+ /* check eeprom to avoid to run the bad program */
+ if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
+ EEPROM_MAGIC_COBBOARD) {
+ sei();
+ printf_P(PSTR("Bad eeprom value\r\n"));
+ while(1);
+ }
+
+ /* LOGS */
+ error_register_emerg(mylog);
+ error_register_error(mylog);
+ error_register_warning(mylog);
+ error_register_notice(mylog);
+ error_register_debug(mylog);
+
+ /* SPI + ENCODERS */
+ encoders_spi_init(); /* this will also init spi hardware */
+
+ /* I2C */
+ i2c_protocol_init();
+ i2c_init(I2C_MODE_SLAVE, I2C_COBBOARD_ADDR);
+ i2c_register_recv_event(i2c_recvevent);
+
+ /* TIMER */
+ timer_init();
+ timer0_register_OV_intr(main_timer_interrupt);
+
+ /* PWM */
+ 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,
+ TIMER4_PRESCALER_DIV_1);
+
+ 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);
+ PWM_NG_INIT16(&gen.pwm3_1A, 1, A, 10, PWM_NG_MODE_SIGNED |
+ PWM_NG_MODE_SIGN_INVERTED,
+ &PORTD, 6);
+ PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED |
+ PWM_NG_MODE_SIGN_INVERTED,
+ &PORTD, 7);
+
+
+ /* servos */
+ 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,
+ TIMER1_PRESCALER_DIV_256);
+ PWM_NG_INIT16(&gen.servo2, 5, A, 10, PWM_NG_MODE_NORMAL,
+ NULL, 0);
+ PWM_NG_INIT16(&gen.servo3, 5, B, 10, PWM_NG_MODE_NORMAL,
+ 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,
+ LED_PRIO);
+ /* all cs management */
+ microb_cs_init();
+
+ /* sensors, will also init hardware adc */
+ sensor_init();
+
+ /* TIME */
+ time_init(TIME_PRIO);
+
+ /* ax12 */
+ ax12_user_init();
+
+ sei();
+
+ /* finger + other actuators */
+ actuator_init();
+
+ state_init();
+
+ printf_P(PSTR("\r\n"));
+ printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
+
+ /* arm management */
+ gen.logs[0] = E_USER_ST_MACH;
+ gen.log_level = 5;
+ cobboard.flags |= DO_CS;
+
+ state_machine();
+ cmdline_interact();
+
+ return 0;
+}
git.droids-corp.org / aversive.git / blobdiff