X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;fp=projects%2Fmicrob2010%2Fmainboard%2Fmain.c;h=1b4d4b04c66bb21d633969fe5c33243219805009;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

diff --git a/projects/microb2010/mainboard/main.c b/projects/microb2010/mainboard/main.c
new file mode 100755
index 0000000..1b4d4b0
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+++ b/projects/microb2010/mainboard/main.c
@@ -0,0 +1,295 @@
+/*  
+ *  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 1.10 2009-11-08 17:24:33 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 <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 <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_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 "strat.h"
+#include "cmdline.h"
+#include "sensor.h"
+#include "actuator.h"
+#include "cs.h"
+#include "i2c_protocol.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;
+struct mechboard mechboard;
+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_time_monitor(void *dummy)
+{
+	uint16_t seconds;
+	seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
+	seconds ++;
+	eeprom_write_word(EEPROM_TIME_ADDRESS, seconds);
+}
+
+void do_led_blink(void *dummy)
+{
+#if 1 /* simple blink */
+	LED1_TOGGLE();
+#endif
+}
+
+static void main_timer_interrupt(void)
+{
+	static uint8_t cpt = 0;
+	cpt++;
+	sei();
+	if ((cpt & 0x3) == 0)
+		scheduler_interrupt();
+}
+
+int main(void)
+{
+	uint16_t seconds;
+
+	/* brake */
+	BRAKE_DDR();
+	BRAKE_OFF();
+
+	/* CPLD reset on PG3 */
+	DDRG |= 1<<3;
+	PORTG &= ~(1<<3); /* implicit */
+
+	/* LEDS */
+	DDRJ |= 0x0c;
+	DDRL = 0xc0;
+	LED1_OFF();
+	LED2_OFF();
+	LED3_OFF();
+	LED4_OFF();
+
+	memset(&gen, 0, sizeof(gen));
+	memset(&mainboard, 0, sizeof(mainboard));
+	mainboard.flags = DO_ENCODERS | DO_RS |
+		DO_POS | DO_POWER | DO_BD;
+	sensorboard.opponent_x = I2C_OPPONENT_NOT_THERE;
+
+	/* 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_MAINBOARD);
+	/* check eeprom to avoid to run the bad program */
+	if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
+	    EEPROM_MAGIC_MAINBOARD) {
+		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_init(I2C_MODE_MASTER, I2C_MAINBOARD_ADDR);
+	i2c_protocol_init();
+	i2c_register_recv_event(i2c_recvevent);
+	i2c_register_send_event(i2c_sendevent);
+
+	/* 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 | 
+		      PWM_NG_MODE_SIGN_INVERTED, &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);
+	pwm_ng_set(&gen.servo2, 290); /* right */
+	pwm_ng_set(&gen.servo3, 400); /* left */
+	/* 2 lintels 180, 485 */
+	/* 1 lintel 155, 520 */
+
+	/* 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);
+
+	/* start i2c slave polling */
+	scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
+						8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
+
+	/* strat */
+ 	gen.logs[0] = E_USER_STRAT;
+ 	gen.log_level = 5;
+	strat_reset_infos();
+
+	/* strat-related event */
+	scheduler_add_periodical_event_priority(strat_event, NULL,
+						25000L / SCHEDULER_UNIT,
+						STRAT_PRIO);
+
+	/* eeprom time monitor */
+	scheduler_add_periodical_event_priority(do_time_monitor, NULL,
+						1000000L / SCHEDULER_UNIT,
+						EEPROM_TIME_PRIO);
+
+	sei();
+
+	printf_P(PSTR("\r\n"));
+	printf_P(PSTR("Respect et robustesse.\r\n"));
+	seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
+	printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
+	cmdline_interact();
+
+	return 0;
+}