From ff7505c0a9d6b5332db32ae9b23326bc466f0b01 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 5 May 2011 23:11:38 +0200 Subject: digital/io-hub: add base robospierre io-hub program --- digital/io-hub/src/robospierre/main.c | 142 ++++++++++++++++++++++++++++++++++ 1 file changed, 142 insertions(+) create mode 100644 digital/io-hub/src/robospierre/main.c (limited to 'digital/io-hub/src/robospierre/main.c') diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c new file mode 100644 index 00000000..5a987240 --- /dev/null +++ b/digital/io-hub/src/robospierre/main.c @@ -0,0 +1,142 @@ +/* main.c */ +/* robospierre - Eurobot 2011 AI. {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * 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 "modules/utils/utils.h" +#include "modules/uart/uart.h" +#include "modules/proto/proto.h" + +#include "timer.h" +#include "chrono.h" +#include "simu.host.h" + +#include "asserv.h" +#include "mimot.h" +#include "twi_master.h" + +#include "io.h" + +/** Our color. */ +enum team_color_e team_color; + +/** Asserv stats counters. */ +static uint8_t main_stats_asserv_, main_stats_asserv_cpt_; + +/** Main initialisation. */ +static void +main_init (void) +{ + /* Serial port */ + uart0_init (); + /* Enable interrupts */ + sei (); + /* Main timer */ + timer_init (); + /* TWI communications */ + asserv_init (); + mimot_init (); + twi_master_init (); + /* Initialization done. */ + proto_send0 ('z'); +} + +/** Main events management. */ +void +main_event_to_fsm (void) +{ +} + +/** Main (and infinite) loop. */ +static void +main_loop (void) +{ + while (1) + { + /* Wait until next cycle. */ + timer_wait (); + /* Update chrono. */ + chrono_update (); + /* Is match over? */ + if (chrono_is_match_over ()) + { + /* End it and block here indefinitely. */ + chrono_end_match (42); + return; + } + /* Handle commands from UART. */ + while (uart0_poll ()) + proto_accept (uart0_getc ()); + /* Only manage events if slaves are synchronised. */ + if (twi_master_sync ()) + main_event_to_fsm (); + /* Send stats if requested. */ + if (main_stats_asserv_ && !--main_stats_asserv_cpt_) + { + /* Get current position */ + position_t cur_pos; + asserv_get_position (&cur_pos); + /* Send stats */ + proto_send3w ('A', cur_pos.v.x, cur_pos.v.y, cur_pos.a); + /* Reset stats counter */ + main_stats_asserv_cpt_ = main_stats_asserv_; + } + } +} + +/** Handle received commands. */ +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; + /* Stats commands. + * - b: interval between stats. */ + case c ('A', 1): + /* Position stats. */ + main_stats_asserv_ = main_stats_asserv_cpt_ = args[0]; + break; + default: + /* Unknown commands */ + proto_send0 ('?'); + return; + } + /* When no error, acknowledge commands */ + proto_send (cmd, size, args); +#undef c +} + +int +main (int argc, char **argv) +{ + avr_init (argc, argv); + main_init (); + main_loop (); + return 0; +} -- cgit v1.2.3