+++ /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 1.4 2009-05-27 20:04:07 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 <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 "actuator.h"
-#include "cs.h"
-#include "i2c_protocol.h"
-#include "beacon.h"
-#include "scanner.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 sensorboard sensorboard;
-
-/***********************/
-
-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_OFF();
- 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(&sensorboard, 0, sizeof(sensorboard));
- sensorboard.flags = DO_ENCODERS | DO_CS | 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_SENSORBOARD);
- /* check eeprom to avoid to run the bad program */
- if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
- EEPROM_MAGIC_SENSORBOARD) {
- 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_SENSORBOARD_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 |
- PWM_NG_MODE_SIGN_INVERTED,
- &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,
- &PORTD, 6);
- PWM_NG_INIT16(&gen.pwm4_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
- &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();
-
- /* beacon */
- beacon_init();
- scheduler_add_periodical_event_priority(beacon_calc, NULL,
- 20000L / SCHEDULER_UNIT,
- BEACON_PRIO);
-
-
-
- /* scan */
-
-
- scanner_init();
- scheduler_add_periodical_event_priority(do_scan, NULL,
- (1024L*1L) / SCHEDULER_UNIT,
- CS_PRIO-1);
-
- sei();
-
- scan_params.speed = SCAN_DEFAULT_SPEED;
- scan_params.debug = 0;
-
- scanner_calibre_mirror();
- scanner_calibre_laser();
-
- beacon_calibre_pos();
-
-
- printf_P(PSTR("\r\n"));
- printf_P(PSTR("Dass das Gluck deinen Haus setzt.\r\n"));
- cmdline_interact();
-
-
-
- return 0;
-}
git.droids-corp.org / aversive.git / blobdiff