void matchuart_init(uint8_t num, const char *pat, void (*cb)(void))
{
if( match_num != UINT8_MAX )
{
// unregister previous event
uart_register_rx_event(match_num, NULL);
}
match_cb = cb;
match_pat = pat;
match_cur = pat;
match_num = num;
uart_register_rx_event(num, uart_event);
}
int main(void)
{
struct callout c1, c2, c3, c4;
uint8_t old_prio;
#ifdef HOST_VERSION
hostsim_uart_init();
hostsim_ittimer_add(timer_interrupt, 1 * 1000 * 1000); /* 1ms period */
hostsim_ittimer_enable(100); /* 100 us */
#else
uart_init();
fdevopen(uart0_dev_send, uart0_dev_recv);
timer_init();
timer0_register_OV_intr(timer_interrupt);
#endif
uart_register_rx_event(0, dump_stats);
callout_mgr_init(&global_cm, get_time_ms);
sei();
printf("f1 every %d ms, high prio (200)\n", C1_TIME_MS);
printf("f2 every %d ms, low prio (50)\n", C2_TIME_MS);
printf("f3 every %d ms, med prio (100), the function lasts 600ms\n",
C3_TIME_MS);
printf("f4 only once after %d ms, very high prio (250), "
"stop task f2\n", C4_TIME_MS);
printf("type s to dump stats\n");
callout_init(&c1, f1, NULL, 200);
callout_init(&c2, f2, NULL, 50);
callout_init(&c3, f3, NULL, 100);
callout_init(&c4, supp, &c2, 250);
callout_schedule(&global_cm, &c1, C1_TIME_MS);
callout_schedule(&global_cm, &c2, C2_TIME_MS);
callout_schedule(&global_cm, &c3, C3_TIME_MS);
callout_schedule(&global_cm, &c4, C4_TIME_MS);
while (get_time_ms() < 2900)
;
old_prio = callout_mgr_set_prio(&global_cm, 150);
ts_printf("set prio 150\n");
while (get_time_ms() < 3100)
;
ts_printf("set prio 0\n");
callout_mgr_restore_prio(&global_cm, old_prio);
while (get_time_ms() < 5000)
;
callout_stop(&global_cm, &c1);
callout_stop(&global_cm, &c3);
callout_stop(&global_cm, &c4);
callout_dump_stats(&global_cm);
wait_ms(10);
#ifdef HOST_VERSION
hostsim_uart_exit();
#endif
return 0;
}
int main(void)
{
#ifndef HOST_VERSION
/* 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();
#endif
memset(&gen, 0, sizeof(gen));
memset(&mainboard, 0, sizeof(mainboard));
mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
DO_POS | DO_POWER | DO_BD | DO_ERRBLOCKING;
ballboard.lcob = I2C_COB_NONE;
ballboard.rcob = I2C_COB_NONE;
/* UART */
uart_init();
uart_register_rx_event(CMDLINE_UART, emergency);
#ifndef HOST_VERSION
#if CMDLINE_UART == 3
fdevopen(uart3_dev_send, uart3_dev_recv);
#elif CMDLINE_UART == 1
fdevopen(uart1_dev_send, uart1_dev_recv);
#endif
/* check eeprom to avoid to run the bad program */
if (eeprom_read_byte(EEPROM_MAGIC_ADDRESS) !=
EEPROM_MAGIC_MAINBOARD) {
int c;
sei();
printf_P(PSTR("Bad eeprom value ('f' to force)\r\n"));
c = uart_recv(CMDLINE_UART);
if (c == 'f')
eeprom_write_byte(EEPROM_MAGIC_ADDRESS, EEPROM_MAGIC_MAINBOARD);
wait_ms(100);
bootloader();
}
#endif /* ! HOST_VERSION */
/* LOGS */
error_register_emerg(mylog);
error_register_error(mylog);
error_register_warning(mylog);
error_register_notice(mylog);
error_register_debug(mylog);
#ifndef HOST_VERSION
/* 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,
&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);
support_balls_deploy(); /* init pwm for servos */
#endif /* !HOST_VERSION */
/* SCHEDULER */
scheduler_init();
#ifdef HOST_VERSION
hostsim_init();
robotsim_init();
#endif
#ifndef HOST_VERSION
scheduler_add_periodical_event_priority(do_led_blink, NULL,
100000L / SCHEDULER_UNIT,
LED_PRIO);
#endif /* !HOST_VERSION */
/* all cs management */
microb_cs_init();
/* TIME */
time_init(TIME_PRIO);
/* sensors, will also init hardware adc */
sensor_init();
#ifndef HOST_VERSION
/* start i2c slave polling */
scheduler_add_periodical_event_priority(i2c_poll_slaves, NULL,
8000L / SCHEDULER_UNIT, I2C_POLL_PRIO);
#endif /* !HOST_VERSION */
/* strat */
gen.logs[0] = E_USER_STRAT;
gen.log_level = 5;
/* strat-related event */
scheduler_add_periodical_event_priority(strat_event, NULL,
25000L / SCHEDULER_UNIT,
STRAT_PRIO);
#ifndef HOST_VERSION
/* eeprom time monitor */
scheduler_add_periodical_event_priority(do_time_monitor, NULL,
1000000L / SCHEDULER_UNIT,
EEPROM_TIME_PRIO);
#endif /* !HOST_VERSION */
sei();
strat_db_init();
printf_P(PSTR("\r\n"));
printf_P(PSTR("Respect et robustesse.\r\n"));
#ifndef HOST_VERSION
{
uint16_t seconds;
seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
}
#endif
#ifdef HOST_VERSION
strat_reset_pos(400, COLOR_Y(400), COLOR_A(-90));
#endif
cmdline_interact();
return 0;
}
