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/* main.c */
/* APBTasserv - asservissement Robot 2004 {{{
 *
 * Copyright (C) 2003 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2004.
 *	Web: http://assos.efrei.fr/robot/
 *	Mail: robot AT efrei DOT fr
 *
 * 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 <18f442.h>
#include <stdlib.h>

/* Pattes libres.
40 rb7 (coupee)
39 rb6   : D3
38 rb5   : D2
37 rb4   : D1
36 rb3   : D0
35 rb2   : Clk busp
30 rd7
29 rd6   : Capteur sharp
28 rd5   : Capteur doigts
27 rd4   : Capteur couleur
24 rc5
23 rc4
22 rd3   : Jack
21 rd2
18 rc3
10 re2
9  re1
8  re0
7  ra5
5  ra3
4  ra2
3  ra1

A1-5 B2-7 C4-5 D2-6 E0-2
*/

/* Configuration g�n�rale. */
#fuses H4,WDT,WDT128,PUT,NOBROWNOUT,NOLVP
#use delay(clock=40000000)
#use rs232(baud=115200,xmit=PIN_C6,parity=N,rcv=PIN_C7,bits=8)
#priority RDA,TBE,TIMER2

#include "motor.c"
#include "serial.c"

/* Initialise le PIC. */
void
main_init (void)
{
    /* Configuration de la liaison s�rie. */
    setup_psp (PSP_DISABLED);
    /* Configuration de l'interface SPI : non utilis�e. */
    setup_spi (FALSE);
    /* Le timer0 est utilis� pour les pas du moteur gauche. */
    setup_timer_0 (RTCC_EXT_L_TO_H | RTCC_8_BIT | RTCC_DIV_1);
    /* Le timer1 est inutilis�. */
    setup_timer_1 (T1_DISABLED);
    /* Configuration du TIMER 2.
     * Tpwm = (PR2 + 1) * 4 * Tosc * TMR2_prescale
     * Fpwm = 20kHz
     * Tint2 = TMR2_postscale * Tpwm
     * Tint2 = 0,5ms
     */
    setup_timer_2 (T2_DIV_BY_4, 124, 10);
    /* Le timer3 est utilis� pour les pas du moteur droit. */
    setup_timer_3 (T3_EXTERNAL | T3_DIV_BY_1);
    /* D�sactivation de l'ADC. */
    setup_adc_ports (NO_ANALOGS);
    setup_adc (ADC_CLOCK_DIV_2);
    /* Configuration des registres pour un fonctionnement en PWM. */
    setup_ccp1 (CCP_PWM);
    setup_ccp2 (CCP_PWM);
    set_pwm1_duty (0);
    set_pwm2_duty (0);
}

/* Initialise les interruptions. */
void
irq_init (void)
{
    /* Configuration des interruptions activ�es. */
    enable_interrupts (INT_TIMER2);
    enable_interrupts (INT_RDA);
    disable_interrupts (INT_TBE);
    enable_interrupts (GLOBAL);
}

void
main (void)
{
    delay_ms (20);
    main_init ();
    motor_init ();
    serial_init ();
    irq_init ();
    serial_send_rezet ();
    motor_main ();
}