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+/* main.c */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * Copyright (C) 2008 Dufour Jérémy
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+#include "common.h"
+#include "io.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+#include "modules/utils/utils.h"
+
+/* AVR include, non HOST */
+#ifndef HOST
+# include "main_timer.avr.h"
+#endif /* HOST */
+
+#include "asserv.h" /* Functions to control the asserv board */
+
+/**
+ * Initialize the main and all its subsystems.
+ */
+static void main_init (void);
+
+/**
+ * Main (and infinite) loop of the io program.
+ */
+static void main_loop (void);
+
+/**
+ * Initialize the main and all its subsystems.
+ */
+static void
+main_init (void)
+{
+ /* Serial port */
+ uart0_init ();
+ /* Main timer */
+ main_timer_init ();
+ /* Asserv communication */
+ asserv_init ();
+
+ /* Enable interrupts */
+ sei ();
+
+ /* io initialization done */
+ proto_send0 ('z');
+}
+
+/**
+ * Main (and infinite) loop of the io program.
+ */
+static void
+main_loop (void)
+{
+ /* Infinite loop */
+ while (1)
+ {
+ /* Wait for an overflow of the main timer (4.444ms) */
+ main_timer_wait ();
+
+ /* Get the data from the UART */
+ while (uart0_poll ())
+ /* Manage UART protocol */
+ proto_accept (uart0_getc ());
+
+ /* Update TWI module to get new data */
+ // TODO
+ }
+}
+
+/**
+ * Manage received UART commands.
+ * @param cmd commands received.
+ * @param size the length of arguments.
+ * @param args the argument of the command.
+ */
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ /* Reset */
+ utils_reset ();
+ break;
+
+ default:
+ /* Unknown commands */
+ proto_send0 ('?');
+ return;
+ }
+ /* When no error, acknowledge commands */
+ proto_send (cmd, size, args);
+#undef c
+}
+
+/**
+ * Main function.
+ */
+int
+main (int argc, char **argv)
+{
+ /* Initialize the main and its subsystems */
+ main_init ();
+
+ /* Start the main loop */
+ main_loop ();
+
+ return 0;
+}