make it compile

[protos/imu.git] / main.c

diff --git a/main.c b/main.c
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+++ b/main.c
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+/*
+ * Copyright (c) 2011, Olivier MATZ <zer0@droids-corp.org>
+ * All rights reserved.
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the University of California, Berkeley nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/* fuses:
+ * avrdude -p atmega1284p -P usb -c avrispmkii -U lfuse:w:0xff:m -U hfuse:w:0x91:m -U efuse:w:0xff:m
+ * -> it failed but I answered y, then make reset and it was ok
+ */
+
+#include <aversive.h>
+#include <aversive/queue.h>
+#include <aversive/endian.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <uart.h>
+
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+#include <inttypes.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <errno.h>
+#include <ctype.h>
+
+#include <parse.h>
+#include <rdline.h>
+#include <timer.h>
+#include <i2cm_sw.h>
+
+#include "eeprom_config.h"
+#include "main.h"
+
+struct imuboard imuboard;
+volatile uint32_t global_ms;
+
+/* global xbee device */
+struct xbee_dev *xbee_dev;
+
+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();
+       /* ... very specific :( */
+       TIMSK0 = 0;
+       TIMSK1 = 0;
+       TIMSK2 = 0;
+       TIMSK3 = 0;
+       EIMSK = 0;
+       UCSR0B = 0;
+       UCSR1B = 0;
+       SPCR = 0;
+       TWCR = 0;
+       ACSR = 0;
+       ADCSRA = 0;
+
+       /* XXX */
+       /* __asm__ __volatile__ ("ldi r31,0xf8\n"); */
+       /* __asm__ __volatile__ ("ldi r30,0x00\n"); */
+       /* __asm__ __volatile__ ("eijmp\n"); */
+}
+
+/* return time in milliseconds on unsigned 16 bits */
+uint16_t get_time_ms(void)
+{
+       uint16_t ms;
+       uint8_t flags;
+       IRQ_LOCK(flags);
+       ms = global_ms;
+       IRQ_UNLOCK(flags);
+       return ms;
+}
+
+static void main_timer_interrupt(void)
+{
+       static uint16_t cycles;
+       static uint8_t stack = 0;
+       static uint8_t cpt = 0;
+       cpt++;
+
+       /* LED blink */
+       if (global_ms & 0x80)
+               LED1_ON();
+       else
+               LED1_OFF();
+
+       if ((cpt & 0x03) != 0)
+               return;
+
+       /* the following code is only called one interrupt among 4: every 682us
+        * (at 12 Mhz) = 8192 cycles */
+       cycles += 8192;
+       if (cycles >= 12000) {
+               cycles -= 12000;
+               global_ms ++;
+       }
+
+       /* called  */
+       if (stack++ == 0)
+               LED2_ON();
+       sei();
+       if ((cpt & 0x3) == 0)
+               callout_manage(&imuboard.intr_cm);
+       cli();
+       if (--stack == 0)
+               LED2_OFF();
+}
+
+/* XXX */
+int imu_loop(void);
+int sd_main(void);
+
+int main(void)
+{
+       DDRB = 0x18 /* LEDs */;
+
+       uart_init();
+       uart_register_rx_event(CMDLINE_UART, emergency);
+
+       fdevopen(cmdline_dev_send, cmdline_dev_recv);
+       timer_init();
+       timer0_register_OV_intr(main_timer_interrupt);
+
+       callout_mgr_init(&imuboard.intr_cm, get_time_ms);
+
+       cmdline_init();
+       /* LOGS */
+       error_register_emerg(mylog);
+       error_register_error(mylog);
+       error_register_warning(mylog);
+       error_register_notice(mylog);
+       error_register_debug(mylog);
+
+       /* communication with mpu6050 */
+       i2cm_init();
+
+       sei();
+
+       eeprom_load_config();
+
+       printf_P(PSTR("\r\n"));
+       rdline_newline(&imuboard.rdl, imuboard.prompt);
+
+       //sd_main();
+
+       imu_loop();
+
+       while (1) {
+               cmdline_poll();
+       }
+
+       return 0;
+}