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-rw-r--r--digital/io/src/Makefile2
-rw-r--r--digital/io/src/chrono.c144
-rw-r--r--digital/io/src/chrono.h62
-rw-r--r--digital/io/src/main.c10
-rw-r--r--digital/io/src/simu.host.c6
-rw-r--r--digital/io/src/simu.host.h4
-rw-r--r--digital/io/src/top_cb.c2
7 files changed, 175 insertions, 55 deletions
diff --git a/digital/io/src/Makefile b/digital/io/src/Makefile
index e170c70c..1899bc6f 100644
--- a/digital/io/src/Makefile
+++ b/digital/io/src/Makefile
@@ -1,7 +1,7 @@
BASE = ../../avr
PROGS = io
io_SOURCES = main.c asserv.c servo.avr.c eeprom.avr.c trap.c sharp.c \
- switch.avr.c \
+ switch.avr.c chrono.c \
simu.host.c \
fsm.c \
getsamples.c getsamples_fsm.c getsamples_cb.c \
diff --git a/digital/io/src/chrono.c b/digital/io/src/chrono.c
new file mode 100644
index 00000000..9f162f3c
--- /dev/null
+++ b/digital/io/src/chrono.c
@@ -0,0 +1,144 @@
+/* chrono.avr.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 "chrono.h"
+
+#include "modules/utils/utils.h" /* regv */
+#include "asserv.h" /* asserv_* */
+
+#include "io.h" /* Registers for timer/counter 1 */
+
+/**
+ * Number of overflow of the timer/counter 1 before doing the last one.
+ */
+#define CHRONO_OVERFLOW_MAX 70
+
+/**
+ * Number of TIC to restart from for the last overflow.
+ */
+#define CHRONO_RESTART_TIC 58982
+/**
+ * Duration of a loop to emulate from the original behaviour, in ms.
+ */
+#define CHRONO_LOOP_DURATION 4
+/**
+ * Time to wait before resetting asserv board, in ms.
+ */
+#define CHRONO_WAIT_BEFORE_RESET 1000
+
+/**
+ * Match is finished.
+ * This variable will be set to 0 when the match is over.
+ */
+static volatile uint8_t chrono_match_over_ = 0;
+
+/**
+ * Overflow counter.
+ */
+static volatile uint8_t chrono_ov_count_;
+
+/* Initialize the chrono timer/counter 1. */
+void
+chrono_init (void)
+{
+#ifndef HOST
+ /* Presaler = 256 */
+ TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10,
+ 0, 1, 0, 0, 0, 1, 0, 0);
+ /* Enable overflow interrupt */
+ set_bit (TIMSK, TOIE1);
+#endif
+}
+
+#ifndef HOST
+/* Overflow of timer/counter 1 handler. */
+SIGNAL (SIG_OVERFLOW1)
+{
+ switch (++chrono_ov_count_)
+ {
+ case CHRONO_OVERFLOW_MAX:
+ /* Last but not complete overflow */
+ TCNT1 = CHRONO_RESTART_TIC;
+ break;
+ case CHRONO_OVERFLOW_MAX + 1:
+ /* End of match! */
+ chrono_match_over_ = 1;
+ break;
+ }
+}
+#endif
+
+/* Match over? */
+uint8_t
+chrono_is_match_over (void)
+{
+ return chrono_match_over_;
+}
+
+/* End the match. */
+void
+chrono_end_match (uint8_t block)
+{
+ /* Make sure previous command has been acknowledged. If not, retransmit
+ * until acknowledged */
+ while (asserv_last_cmd_ack () == 0)
+ {
+ /* Update status */
+ asserv_update_status ();
+ /* Manage retransmission */
+ asserv_retransmit ();
+ /* Wait a little */
+ utils_delay_ms (CHRONO_LOOP_DURATION);
+ }
+
+ /* Make the bot stop moving */
+ asserv_stop_motor ();
+
+ /* Wait until complete */
+ while (42)
+ {
+ /* Update the asserv board */
+ asserv_update_status ();
+ /* Stop acknowledged ? */
+ if (asserv_last_cmd_ack () == 0)
+ {
+ /* Retransmit if needed */
+ asserv_retransmit ();
+ /* Wait a little */
+ utils_delay_ms (CHRONO_LOOP_DURATION);
+ }
+ else
+ /* Exit loop */
+ break;
+ }
+
+ /* Wait CHRONO_WAIT_BEFORE_RESET ms before reseting */
+ utils_delay_ms (CHRONO_WAIT_BEFORE_RESET);
+ /* Reset the asserv board */
+ asserv_reset ();
+ /* Block indefinitely */
+ if (block)
+ while (42);
+}
diff --git a/digital/io/src/chrono.h b/digital/io/src/chrono.h
index 2003f290..fc715d6d 100644
--- a/digital/io/src/chrono.h
+++ b/digital/io/src/chrono.h
@@ -33,59 +33,35 @@
* match_duration / (1 / (AC_FREQ / (Prescaler * (TOP + 1))))
* It will overflow 79 times and them reset the timer/counter to 58982
* (TOP - ((TOP + 1) / 10)).
+ * @todo add the ability to unblock the chrono_end_match with a flag that can
+ * be unset with an uart command. Maybe dangerous...
*/
-#include "modules/utils/utils.h" /* regv */
-#include "io.h" /* Registers for timer/counter 1 */
+#include "common.h"
/**
- * Number of overflow of the timer/counter 1 before doing the last one.
- */
-#define CHRONO_OVERFLOW_MAX 70
-
-/**
- * Number of TIC to restart from for the last overflow.
- */
-#define CHRONO_RESTART_TIC 58982
-
-/**
- * Match is finished.
- * This variable will be set to 0 when the match is over.
+ * Initialize the chrono timer/counter 1.
+ * It starts it for a duration of 90s.
*/
-static uint8_t chrono_match_over;
+void
+chrono_init (void);
/**
- * Overflow counter.
+ * Match over?
+ * @return
+ * - 0 if the match is not finished yet
+ * - 1 if the match is over
*/
-static volatile uint8_t chrono_ov_count_;
+uint8_t
+chrono_is_match_over (void);
/**
- * Initialize the chrono timer/counter 1.
+ * End the match.
+ * This function is responsible of resetting the asserv board to stop the bot
+ * from moving and put the io board in a state where it will not do something.
+ * @param block blocking function until hardware reset?
*/
-static inline void
-chrono_init (void)
-{
- /* Presaler = 256 */
- TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10,
- 0, 1, 0, 0, 0, 1, 0, 0);
- /* Enable overflow interrupt */
- set_bit (TIMSK, TOIE1);
-}
-
-/* Overflow of timer/counter 1 handler. */
-SIGNAL (SIG_OVERFLOW1)
-{
- switch (++chrono_ov_count_)
- {
- case CHRONO_OVERFLOW_MAX:
- /* Last but not complete overflow */
- TCNT1 = CHRONO_RESTART_TIC;
- break;
- case CHRONO_OVERFLOW_MAX + 1:
- /* End of match! */
- chrono_match_over = 1;
- break;
- }
-}
+void
+chrono_end_match (uint8_t block);
#endif /* chrono_h */
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 883bb25d..efcd9d4e 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -43,6 +43,7 @@
#include "giboulee.h" /* team_color */
#include "getsamples.h" /* getsamples_start */
#include "top.h" /* top_* */
+#include "chrono.h" /* chrono_end_match */
#include "io.h"
@@ -106,6 +107,15 @@ main_loop (void)
/* Manage UART protocol */
proto_accept (uart0_getc ());
+ /* Is match over? */
+ if (chrono_is_match_over ())
+ {
+ /* End it and block here indefinitely */
+ chrono_end_match (42);
+ /* Safety */
+ return;
+ }
+
/* Update TWI module to get new data from the asserv board */
asserv_update_status ();
diff --git a/digital/io/src/simu.host.c b/digital/io/src/simu.host.c
index e7521796..86029139 100644
--- a/digital/io/src/simu.host.c
+++ b/digital/io/src/simu.host.c
@@ -179,9 +179,3 @@ void
eeprom_clear_param (void)
{
}
-
-void
-chrono_init (void)
-{
-}
-
diff --git a/digital/io/src/simu.host.h b/digital/io/src/simu.host.h
index e4b90dcf..efd3bb2a 100644
--- a/digital/io/src/simu.host.h
+++ b/digital/io/src/simu.host.h
@@ -51,10 +51,6 @@ switch_get_color (void);
uint8_t
switch_get_jack (void);
-/** Hooked, do nothing. */
-void
-chrono_init (void);
-
#endif /* defined (HOST) */
#endif /* simu_host_h */
diff --git a/digital/io/src/top_cb.c b/digital/io/src/top_cb.c
index 82ed00c4..352fbc86 100644
--- a/digital/io/src/top_cb.c
+++ b/digital/io/src/top_cb.c
@@ -29,9 +29,9 @@
#include "move.h" /* move FSM */
#include "playground.h" /* PG_* */
#include "asserv.h" /* asserv_* */
+#include "chrono.h" /* chrono_init */
/* AVR include, non HOST */
#ifndef HOST
-# include "chrono.h" /* chrono_init */
# include "switch.h" /* switch_get_color */
#endif /* HOST */
#include "simu.host.h"