int main(void) {
setBoardName("TITAN ELECTRONICAL MAIN BOARD 32bits V-JJ_7");
i2cMasterInitialize();
//setRobotMustStop(false);
// Open the serial Link for debug
openSerialLink(&debugSerialStreamLink,
&debugInputBuffer,
&debugInputBufferArray,
MAIN_BOARD_DEBUG_INPUT_BUFFER_LENGTH,
&debugOutputBuffer,
&debugOutputBufferArray,
MAIN_BOARD_DEBUG_OUTPUT_BUFFER_LENGTH,
&debugOutputStream,
SERIAL_PORT_DEBUG,
DEFAULT_SERIAL_SPEED);
// Open the serial Link for the PC
openSerialLink(&pcSerialStreamLink,
&pcInputBuffer,
&pcInputBufferArray,
MAIN_BOARD_PC_INPUT_BUFFER_LENGTH,
&pcOutputBuffer,
&pcOutputBufferArray,
MAIN_BOARD_PC_OUTPUT_BUFFER_LENGTH,
&pcOutputStream,
SERIAL_PORT_PC,
DEFAULT_SERIAL_SPEED);
// LCD (LCD03 via Serial interface)
initLCDOutputStream(&lcdOutputStream);
initTimerList(&timerListArray, MAIN_BOARD_TIMER_LENGTH);
// Init the logs
initLog(DEBUG);
addLogHandler(&debugSerialLogHandler, "UART", &debugOutputStream, DEBUG);
addLogHandler(&lcdLogHandler, "LCD", &lcdOutputStream, ERROR);
appendString(getAlwaysOutputStreamLogger(), getBoardName());
println(getAlwaysOutputStreamLogger());
initDevicesDescriptor();
initDriversDescriptor();
i2cMasterInitialize();
// Initialize EEPROM and RTC
initClockPCF8563(&globalClock);
init24C512Eeprom(&eeprom_);
initRobotConfigPic32(&robotConfig);
initStartMatchDetector32(&startMatchDetector);
// Initializes the opponent robot
// initOpponentRobot();
/*
// Creates a composite to notify both PC and Debug
initCompositeOutputStream(&compositePcAndDebugOutputStream);
addOutputStream(&compositePcAndDebugOutputStream, &debugOutputStream);
addOutputStream(&compositePcAndDebugOutputStream, &pcOutputStream);
// Creates a composite to redirect to driverRequest and Debug
initCompositeOutputStream(&compositeDriverAndDebugOutputStream);
addOutputStream(&compositeDriverAndDebugOutputStream, &debugOutputStream);
addOutputStream(&compositeDriverAndDebugOutputStream, getDriverRequestOutputStream());
*/
appendString(&debugOutputStream, "DEBUG\n");
// Start interruptions
//startTimerList(); //////RALENTI FORTEMENT LE PIC!!! PLANTE I2C !!!!!!!!
// Configure data dispatcher
//addLocalDriverDataDispatcher();
// Stream for motorBoard
/*
addI2CDriverDataDispatcher(&motorI2cDispatcher,
"MOTOR_BOARD_DISPATCHER",
&motorBoardInputBuffer,
&motorBoardInputBufferArray,
MAIN_BOARD_LINK_TO_MOTOR_BOARD_BUFFER_LENGTH,
&motorBoardOutputStream,
&motorBoardInputStream,
MOTOR_BOARD_I2C_ADDRESS);
*/
/*
// Stream for Mechanical Board 2
addI2CDriverDataDispatcher(&mechanical2I2cDispatcher,
"MECHANICAL_BOARD_2_DISPATCHER",
&mechanical2BoardInputBuffer,
&mechanical2BoardInputBufferArray,
MAIN_BOARD_LINK_TO_MECA_BOARD_2_BUFFER_LENGTH,
&mechanical2BoardOutputStream,
&mechanical2BoardInputStream,
MECHANICAL_BOARD_2_I2C_ADDRESS);
*/
/* // Stream for Air Conditioning
addI2CDriverDataDispatcher(&airConditioningI2cDispatcher,
"AIR_CONDITIONING_DISPATCHER",
&airConditioningBoardInputBuffer,
&airConditioningBoardInputBufferArray,
MAIN_BOARD_LINK_TO_AIR_CONDITIONING_BOARD_BUFFER_LENGTH,
&airConditioningBoardOutputStream,
&airConditioningBoardInputStream,
AIR_CONDITIONING_BOARD_I2C_ADDRESS);
*/
// I2C Debug
initI2CDebugBuffers(&i2cMasterDebugInputBuffer,
&i2cMasterDebugInputBufferArray,
MAIN_BOARD_I2C_DEBUG_MASTER_IN_BUFFER_LENGTH,
&i2cMasterDebugOutputBuffer,
&i2cMasterDebugOutputBufferArray,
MAIN_BOARD_I2C_DEBUG_MASTER_OUT_BUFFER_LENGTH);
appendStringConfig(&lcdOutputStream);
//pingDriverDataDispatcherList(getDebugOutputStreamLogger());
// Inform PC waiting
showWaitingStart(&debugOutputStream);
// wait other board initialization
delaymSec(1500);
// 2012 VALUE
unsigned int configValue = getConfigValue();
unsigned int homologationIndex = configValue & CONFIG_STRATEGY_MASK;
unsigned int color = configValue & CONFIG_COLOR_BLUE_MASK;
appendString(getAlwaysOutputStreamLogger(), "Homologation:");
appendCRLF(getAlwaysOutputStreamLogger());
appendDec(getAlwaysOutputStreamLogger(), homologationIndex);
appendString(getAlwaysOutputStreamLogger(), "Config:");
appendHex4(getAlwaysOutputStreamLogger(), configValue);
appendCRLF(getAlwaysOutputStreamLogger());
useBalise = configValue & CONFIG_USE_BALISE_MASK;
useInfrared = configValue & CONFIG_USE_SONAR_MASK;
if (color != 0) {
appendString(getAlwaysOutputStreamLogger(), "COLOR:VIOLET\n");
}
else {
appendString(getAlwaysOutputStreamLogger(), "COLOR:RED\n");
}
// TODO 2012 SV motionDriverMaintainPosition();
// wait for start
// setInitialPosition(color);
// notify game strategy
// sendStrategyConfiguration(configValue);
loopUntilStart(&waitForInstruction);
// Enable the sonar Status only after start
//setSonarStatus(configValue & CONFIG_USE_SONAR_MASK);
// mark that match begins
markStartMatch();
// write begin of match
showStarted(&pcOutputStream);
if (homologationIndex == 0) {
// MATCH
while (1) {
waitForInstruction();
//CLOCK Read
if (isEnd()) {
break;
}
}
} else {
setReadyForNextMotion(true);
while (1) {
portableStartI2C(i2cBus);
WaitI2C(i2cBus);
portableMasterWriteI2C(FREE_ADDRESS_2);//0x54
WaitI2C(i2cBus);
portableMasterWriteI2C('H');
WaitI2C(i2cBus);
portableMasterWriteI2C('E');
WaitI2C(i2cBus);
portableMasterWriteI2C('L');
WaitI2C(i2cBus);
portableMasterWriteI2C('L');
WaitI2C(i2cBus);
portableMasterWriteI2C('O');
portableStopI2C(i2cBus);
WaitI2C(i2cBus);
int data1,data2,data3;
while(1){
waitForInstruction();
//globalClock.readClock(&globalClock);
//printClock(&debugOutputStream,&globalClock);
//appendCR(&debugOutputStream);
int data = 0;
portableMasterWaitSendI2C(i2cBus);
portableStartI2C(i2cBus);
IdleI2C1();
portableMasterWriteI2C(FREE_ADDRESS_2 + 1);//0x54
WaitI2C(i2cBus);
data = portableMasterReadI2C(i2cBus);
portableAckI2C(i2cBus);
IdleI2C1();
data1 = portableMasterReadI2C(i2cBus);
portableAckI2C(i2cBus);
IdleI2C1();
data2= portableMasterReadI2C(i2cBus);
portableAckI2C(i2cBus);
IdleI2C1();
data3 = portableMasterReadI2C(i2cBus);
portableNackI2C(i2cBus);
IdleI2C1();
append(&lcdOutputStream,data);
append(&lcdOutputStream,data1);
append(&lcdOutputStream,data2);
append(&lcdOutputStream,data3);
portableStopI2C(i2cBus);
IdleI2C1();
delaymSec(500);
}
homologation(homologationIndex, color);
// We stop if we are in homologation mode
if (isRobotMustStop()) {
motionDriverStop();
break;
}
// ultimate tentative to restart the robot if it is blocked
forceRobotNextStepIfNecessary();
}
}
showEnd(&lcdOutputStream);
while (1) {
// Avoid reboot even at end
}
}
int main(void) {
setBoardName("MAIN BOARD");
setRobotMustStop(false);
// LOG Global Configuration
initLogs(DEBUG, &logHandlerListArray, MAIN_BOARD_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
// LCD (LCD via Parallel interface)
initLCDOutputStream(&lcdOutputStream);
addLogHandler("LCD", &lcdOutputStream, LOG_LEVEL_ERROR, LOG_HANDLER_CATEGORY_ALL_MASK);
// CONFIG
initRobotConfigPic32(&robotConfig);
// Open the serial Link for debug and LOG !
openSerialLink(&debugSerialStreamLink,
&debugInputBuffer, &debugInputBufferArray, MAIN_BOARD_DEBUG_INPUT_BUFFER_LENGTH,
&debugOutputBuffer, &debugOutputBufferArray, MAIN_BOARD_DEBUG_OUTPUT_BUFFER_LENGTH,
&debugOutputStream,
SERIAL_PORT_DEBUG,
DEFAULT_SERIAL_SPEED);
// Serial Debug LOG
addLogHandler("UART", &debugOutputStream, DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
// LOG the BoardName
appendString(getAlwaysOutputStreamLogger(), getBoardName());
println(getAlwaysOutputStreamLogger());
// SERIAL
// Open the serial Link for the Motor Board
openSerialLink(&motorSerialStreamLink,
&motorInputBuffer, &motorInputBufferArray, MAIN_BOARD_MOTOR_INPUT_BUFFER_LENGTH,
&motorOutputBuffer, &motorOutputBufferArray, MAIN_BOARD_MOTOR_OUTPUT_BUFFER_LENGTH,
&motorOutputStream,
SERIAL_PORT_MOTOR,
DEFAULT_SERIAL_SPEED);
// Open the serial Link for the Mechanical Board
openSerialLink(&mechanicalBoard2SerialStreamLink,
&mechanicalBoard2InputBuffer, &mechanicalBoard2InputBufferArray, MAIN_BOARD_MECA2_INPUT_BUFFER_LENGTH,
&mechanicalBoard2OutputBuffer, &mechanicalBoard2OutputBufferArray, MAIN_BOARD_MECA2_OUTPUT_BUFFER_LENGTH,
&mechanicalBoard2OutputStream,
SERIAL_PORT_MECA2,
DEFAULT_SERIAL_SPEED);
// Open the serial Link for the PC
openSerialLink(&pcSerialStreamLink,
&pcInputBuffer, &pcInputBufferArray, MAIN_BOARD_PC_INPUT_BUFFER_LENGTH,
&pcOutputBuffer, &pcOutputBufferArray, MAIN_BOARD_PC_OUTPUT_BUFFER_LENGTH,
&pcOutputStream,
SERIAL_PORT_PC,
DEFAULT_SERIAL_SPEED);
// MAIN I2C
initI2cBus(&i2cBus, I2C_BUS_TYPE_MASTER, I2C_BUS_PORT_1);
i2cMasterInitialize(&i2cBus);
initI2cBusConnection(&motorI2cBusConnection, &i2cBus, MOTOR_BOARD_I2C_ADDRESS);
initI2cBusConnection(&mechanicalBoard2I2cBusConnection, &i2cBus, MECHANICAL_BOARD_2_I2C_ADDRESS);
// I2C Debug
initI2CDebugBuffers(&i2cMasterDebugInputBuffer,
&i2cMasterDebugInputBufferArray,
MAIN_BOARD_I2C_DEBUG_MASTER_IN_BUFFER_LENGTH,
&i2cMasterDebugOutputBuffer,
&i2cMasterDebugOutputBufferArray,
MAIN_BOARD_I2C_DEBUG_MASTER_OUT_BUFFER_LENGTH);
setDebugI2cEnabled(false);
// -> Eeproms
initI2cBusConnection(&eepromI2cBusConnection, &i2cBus, ST24C512_ADDRESS_0);
init24C512Eeprom(&eeprom, &eepromI2cBusConnection);
// -> Clock
initI2cBusConnection(&clockI2cBusConnection, &i2cBus, PCF8563_WRITE_ADDRESS);
initClockPCF8563(&clock, &clockI2cBusConnection);
// -> Temperature
initI2cBusConnection(&temperatureI2cBusConnection, &i2cBus, LM75A_ADDRESS);
initTemperatureLM75A(&temperature, &temperatureI2cBusConnection);
// TIMERS
initTimerList(&timerListArray, MAIN_BOARD_TIMER_LENGTH);
// DEVICES, DRIVERS, DISPATCHERS
initMainBoardDevicesDescriptor();
initMainBoardDriversDescriptor();
initMainBoardDriverDataDispatcherList();
// Start interruptions
startTimerList();
loopUntilStart(&startMatch);
counter = 1;
clearBuffer(&mechanicalBoard2InputBuffer);
// enableNotificationRobotInfraredDetector(DETECTOR_GROUP_TYPE_FORWARD);
while (1) {
if (!mainBoardWaitForInstruction(&startMatch)) {
break;
}
}
showEnd(getAlwaysOutputStreamLogger());
while (1) {
// Avoid reboot even at end
}
}