void loop(){
/*
* Check battery status
*/
do_battery_diagnostics();
/*
* Check for danger status (draw or re-charge issues)
*/
if(has_recharging_error() || is_battery_in_dangerous_state()){
motors_shutdown();
if(is_battery_in_dangerous_state()) set_overload_timeout();
return;
}
/*
* Does the battery need to be recharged?
*/
if(is_battery_recharing()) return;
/*
* Now that we pass all those checks, send off control
*/
switch(control_mode){
case RC: handle_rc(); break;
case SERIAL: handle_serial(); break;
case I2C: handle_i2c(); break;
DEFAULT: motors_shutdown();
}
//if(DEBUGGING_ENABLED) debugger();
//delay(loop_delay);
}
int main( void )
{
_delay_ms(100);
// set clock speed
CLKPR = _BV( CLKPCE ); // enable clock prescale change
CLKPR = 0; // full speed (8MHz);
#if defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || \
defined(__AVR_ATtiny85__)
// set up periodic timer for state machine ('script_tick')
TCCR0B = _BV( CS02 ) | _BV(CS00); // start timer, prescale CLK/1024
TIFR = _BV( TOV0 ); // clear interrupt flag
TIMSK = _BV( TOIE0 ); // enable overflow interrupt
// set up output pins
PORTB = INPI2C_MASK; // turn on pullups
DDRB = LED_MASK; // set LED port pins to output
#elif defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || \
defined(__AVR_ATtiny84__)
// set up periodic timer for state machine ('script_tick')
//TCCR0B = _BV( CS02 ) | _BV(CS00); // start timer, prescale CLK/1024
//TIFR0 = _BV( TOV0 ); // clear interrupt flag
//TIMSK0 = _BV( TOIE0 ); // enable overflow interrupt
// set up output pins
PORTA = INPI2C_MASK; // turn on pullups
DDRA = 0xFF; //LEDA_MASK; // set LED port pins to output
DDRB = 0xFF; //LEDB_MASK; // set LED port pins to output
#endif
fanfare( 3, 300 );
#if 0
// test for ATtiny44/84 MaxM
fanfare( 3, 300 );
IRsend_enableIROut();
while( 1 ) {
_delay_ms(10);
IRsend_iroff();
_delay_ms(10);
IRsend_iron();
}
/*
uint8_t f = OCR1B;
while( 1 ) {
_delay_ms(10);
f++;
if( f== OCR1A ) f=0; // OCR1A == period
OCR1B = f; // OCR1B == duty cycle (0-OCR1A)
}
*/
#endif
#if 0
// test timing of script_tick
_delay_ms(2000);
sei();
_delay_ms(500); // this should cause script_tick to equal 15
uint8_t j = script_tick;
for( int i=0; i<j; i++ ) {
led_flash();
_delay_ms(300);
}
#endif
////// begin normal startup
uint8_t boot_mode = eeprom_read_byte( &ee_boot_mode );
uint8_t boot_script_id = eeprom_read_byte( &ee_boot_script_id );
uint8_t boot_reps = eeprom_read_byte( &ee_boot_reps );
//uint8_t boot_fadespeed = eeprom_read_byte( &ee_boot_fadespeed );
uint8_t boot_timeadj = eeprom_read_byte( &ee_boot_timeadj );
// initialize i2c interface
uint8_t i2c_addr = eeprom_read_byte( &ee_i2c_addr );
if( i2c_addr==0 || i2c_addr>0x7f) i2c_addr = I2C_ADDR; // just in case
i2c_addrs[0] = i2c_addr;
for( uint8_t i = 1; i<slaveAddressesCount; i++ ) {
i2c_addrs[i] = i2c_addrs[0] + i;
}
usiTwiSlaveInit( i2c_addrs );
timeadj = boot_timeadj;
if( boot_mode == BOOT_PLAY_SCRIPT ) {
play_script( boot_script_id, boot_reps, 0 );
}
sei(); // enable interrupts
#if 0
basic_tests();
#endif
RB_Init();
// This loop runs forever.
// If the TWI Transceiver is busy the execution will just
// continue doing other operations.
for(;;) {
handle_i2c();
handle_inputs();
handle_script();
handle_ir_queue();
}
} // end
