+/*
+ * 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;
+}