int main() {
char *testdata, *testin, *testexp, *testout, *diffcmd;
const char *srcdir;
DIR *dp;
struct dirent *de;
if(!(srcdir = getenv("srcdir")))
srcdir = ".";
dp = opendirf(&testdata, "%s/%s", srcdir, "testdata-rc");
while((de = xreaddir(testdata, dp))) {
if(strchr(de->d_name, '.') || strchr(de->d_name, '~'))
continue;
xasprintf(&testin, "%s/%s", testdata, de->d_name);
xasprintf(&testout, "%s/%s.out", testdata, de->d_name);
xasprintf(&testexp, "%s/%s.exp", testdata, de->d_name);
reset_rc();
read_rc_path(testin);
write_rc_path(testout);
xasprintf(&diffcmd, "diff -u %s %s", testexp, testout);
if(system(diffcmd))
exit(1);
}
return 0;
}
void mwii_process_events(void){
compute_rc_values();
//TIMSK0 |= _BV(TOIE0);
if(timestamp_expired(brd->rc_reset_timeout)){
reset_rc();
}
}
void mwii_init(void){
//soc_init();
time_init();
uart_init(0, 38400);
gpio_init();
//spi_init();
twi_init(0);
pwm_init();
adc0_init_default();
sei();
// setup printf stuff (specific to avr-libc)
fdev_set_udata(&uart_fd, uart_get_serial_interface(0));
stdout = &uart_fd;
stderr = &uart_fd;
/*
// setup stdout and stderr (avr-libc specific)
fdev_setup_stream(stdout, _serial_fd_putc, _serial_fd_getc, _FDEV_SETUP_RW);
fdev_set_udata(stdout, uart_get_serial_interface(0));
fdev_setup_stream(stderr, _serial_fd_putc, _serial_fd_getc, _FDEV_SETUP_RW);
fdev_set_udata(stderr, uart_get_serial_interface(0));
*/
// first thing must enable interrupts
kdebug("BOOT\n");
gpio_configure(GPIO_MWII_LED, GP_OUTPUT);
//gpio_set(GPIO_MWII_LED);
gpio_configure(GPIO_MWII_MOTOR0, GP_OUTPUT);
gpio_configure(GPIO_MWII_MOTOR1, GP_OUTPUT);
gpio_configure(GPIO_MWII_MOTOR2, GP_OUTPUT);
gpio_configure(GPIO_MWII_MOTOR3, GP_OUTPUT);
gpio_configure(GPIO_MWII_RX0, GP_INPUT | GP_PULLUP | GP_PCINT);
gpio_configure(GPIO_MWII_RX1, GP_INPUT | GP_PULLUP | GP_PCINT);
gpio_configure(GPIO_MWII_RX2, GP_INPUT | GP_PULLUP | GP_PCINT);
gpio_configure(GPIO_MWII_RX3, GP_INPUT | GP_PULLUP | GP_PCINT);
// calibrate escs
//mwii_calibrate_escs();
// set initial motor speeds
mwii_write_motors(MINCOMMAND, MINCOMMAND, MINCOMMAND, MINCOMMAND);
brd->gpio0 = gpio_get_parallel_interface();
brd->twi0 = twi_get_interface(0);
/*
// I2C scanner
for(int c = 0; c < 255; c++){
uint8_t buf[2];
i2c_start_read(brd->twi0, c, buf, 1);
if(i2c_stop(brd->twi0) == 1 && c & 1){
kprintf("Device %x@i2c\n", c >> 1);
}
delay_us(10000);
}
*/
gpio_set(GPIO_MWII_LED);
mpu6050_init(&brd->mpu, brd->twi0, MPU6050_ADDR);
kdebug("MPU6050: %s\n", ((mpu6050_probe(&brd->mpu))?"found":"not found!"));
bmp085_init(&brd->bmp, brd->twi0, BMP085_ADDR);
kdebug("BMP085: found\n");
hmc5883l_init(&brd->hmc, brd->twi0, HMC5883L_ADDR);
gpio_clear(GPIO_MWII_LED);
hcsr04_init(&brd->hcsr, brd->gpio0, GPIO_MWII_HCSR_TRIGGER, GPIO_MWII_HCSR_ECHO);
reset_rc();
mwii_calibrate_mpu6050();
// let the escs init as well
delay_us(500000L);
}
