void mainBoardCommonInitCommonDrivers(void) {
// -> Eeproms
appendString(getDebugOutputStreamLogger(), "EEPROM ...");
eepromI2cBusConnection = addI2cBusConnection(i2cBus, ST24C512_ADDRESS_0, true);
init24C512Eeprom(&eeprom, eepromI2cBusConnection);
appendStringLN(getDebugOutputStreamLogger(), "OK");
// -> Clock
appendString(getDebugOutputStreamLogger(), "CLOCK ...");
clockI2cBusConnection = addI2cBusConnection(i2cBus, PCF8563_WRITE_ADDRESS, true);
initClockPCF8563(&clock, clockI2cBusConnection);
appendStringLN(getDebugOutputStreamLogger(), "OK");
// -> Temperature
appendString(getDebugOutputStreamLogger(), "TEMPERATURE ...");
temperatureI2cBusConnection = addI2cBusConnection(i2cBus, LM75A_ADDRESS, true);
initTemperatureLM75A(&temperature, temperatureI2cBusConnection);
appendStringLN(getDebugOutputStreamLogger(), "OK");
/*
//--> Current
appendString(getDebugOutputStreamLogger(), "CURRENT...");
currentI2CBusConnection = addI2cBusConnection(i2cBus, INA3221_ADDRESS_1, true);
initCurrentINA3221(¤t, currentI2CBusConnection);
appendStringLN(getDebugOutputStreamLogger(), "OK");
*/
// -> Servo
initServoList(&servoList, (Servo(*)[]) &servoListArray, MAIN_BOARD_SERVO_LIST_LENGTH);
addServos_1_2_5(&servoList, "PWM 1", "PWM 2", "PWM 5");
// -> Accelerometer
/*
appendString(getDebugOutputStreamLogger(), "ACCELEROMETER ...");
I2cBusConnection* adxl345BusConnection = addI2cBusConnection(i2cBus, ADXL345_ALT_ADDRESS, true);
initADXL345AsAccelerometer(&accelerometer, &accelerometerData, adxl345BusConnection);
adxl345_setupInterruptOnSingleTapOnInt1(&accelerometer,
8000,
2,
TAP_AXES_ALL_ENABLE,
ADXL345_RATE_400HZ,
ADXL345_RANGE_16G);
appendStringLN(getDebugOutputStreamLogger(), "OK");
*/
// Start interruptions
startTimerList(true);
}
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
}
}
