From 67755c5e9684d0d70ac4947f1a150b75593ba105 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sun, 9 Mar 2008 19:54:27 +0100 Subject: * digital/io - add asserv communication implementation (not fully completed); - correct a few English errors in asserv module (header and documentation); - add main timer to repeat the main loop every 4.444 ms; - add build system. --- digital/io/src/main.c | 131 ++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 131 insertions(+) create mode 100644 digital/io/src/main.c (limited to 'digital/io/src/main.c') diff --git a/digital/io/src/main.c b/digital/io/src/main.c new file mode 100644 index 00000000..602688ef --- /dev/null +++ b/digital/io/src/main.c @@ -0,0 +1,131 @@ +/* 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; +} -- cgit v1.2.3