microb 2010

[aversive.git] / projects / microb2010 / tests / test_board2008 / main.c

diff --git a/projects/microb2010/tests/test_board2008/main.c b/projects/microb2010/tests/test_board2008/main.c
new file mode 100755 (executable)
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+++ b/projects/microb2010/tests/test_board2008/main.c
@@ -0,0 +1,193 @@
+/*  
+ *  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 1.8 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive.h>
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+#include <avr/eeprom.h>
+
+#include <uart.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 <trajectory_manager.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+#include <encoders_microb.h>
+
+#include <parse.h>
+#include <rdline.h>
+
+#include "main.h"
+#include "cmdline.h"
+#include "sensor.h"
+#include "actuator.h"
+#include "cs.h"
+
+#if __AVR_LIBC_VERSION__ == 10602UL
+//#error "won't work with this version"
+#endif
+
+/* 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 mainboard mainboard;
+
+void do_led_blink(void *dummy)
+{
+#if 1 /* simple blink */
+       LED1_TOGGLE();
+#endif
+}
+
+static void main_timer_interrupt(void)
+{
+       static uint8_t cpt = 0;
+       static uint8_t encoder_running = 0;
+
+       cpt++;
+
+       /* BAAAAd */
+       if (encoder_running)
+               return;
+
+       encoder_running = 1;
+       sei();
+
+       encoders_microb_manage(NULL);
+       encoder_running = 0;
+
+       if ((cpt & 0x3) == 0)
+               scheduler_interrupt();
+}
+
+int main(void)
+{
+       /* LEDs */
+       DDRG = 0x18;
+       DDRB = 0x10;
+
+       /* brake */
+       BRAKE_DDR();
+       BRAKE_OFF();
+
+       LED1_ON();
+       LED2_ON();
+       LED3_ON();
+
+       memset(&gen, 0, sizeof(gen));
+       memset(&mainboard, 0, sizeof(mainboard));
+       mainboard.flags = DO_ENCODERS | DO_RS |
+               DO_POS | DO_POWER | DO_BD;
+
+       /* UART */
+       uart_init();
+#if CMDLINE_UART == 0
+       fdevopen(uart0_dev_send, uart0_dev_recv);
+       uart_register_rx_event(0, emergency);
+#elif CMDLINE_UART == 1
+       fdevopen(uart1_dev_send, uart1_dev_recv);
+       uart_register_rx_event(1, emergency);
+#else
+#  error not supported
+#endif
+
+       /* LOGS */
+       error_register_emerg(mylog);
+       error_register_error(mylog);
+       error_register_warning(mylog);
+       error_register_notice(mylog);
+       error_register_debug(mylog);
+
+       encoders_microb_init(); 
+
+       /* 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_INIT16(&gen.pwm1_1A, 1, A, 10, PWM_NG_MODE_SIGNED,
+                     &PORTG, 0);
+       PWM_NG_INIT16(&gen.pwm2_1B, 1, B, 10, PWM_NG_MODE_SIGNED,
+                     &PORTG, 1);
+
+
+       /* servos */
+       PWM_NG_TIMER_16BITS_INIT(3, TIMER_16_MODE_PWM_10, 
+                                TIMER1_PRESCALER_DIV_1);
+       PWM_NG_INIT16(&gen.pwm3_3A, 3, A, 10, PWM_NG_MODE_SIGNED,
+                     &PORTG, 2);
+       PWM_NG_INIT16(&gen.pwm4_3B, 3, B, 10, PWM_NG_MODE_SIGNED | PWM_NG_MODE_SIGN_INVERTED,
+                     &PORTD, 7);
+
+       /* 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();
+       fessor_init();
+       elevator_init();
+
+       /* TIME */
+       time_init(TIME_PRIO);
+
+       /* strat */
+       gen.logs[0] = E_USER_STRAT;
+       gen.log_level = 5;
+
+       sei();
+
+       printf_P(PSTR("\r\n"));
+       printf_P(PSTR("Respekt Robustheit!\r\n"));
+       cmdline_interact();
+
+       return 0;
+}