X-Git-Url: http://git.droids-corp.org/?p=protos%2Fimu.git;a=blobdiff_plain;f=main.c;fp=main.c;h=91ee7b709392ed9a66a08302c2274a1253b15373;hp=0000000000000000000000000000000000000000;hb=84796cd7a01e949167a155ec21f55fd71e788015;hpb=883f5aae494ab066938b0cebb554a1ee13766713

diff --git a/main.c 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;
+}