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/* main.c */
/* asserv - Position & speed motor control on a ATmega128. {{{
 *
 * Copyright (C) 2004 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2005.
 *        Web: http://assos.efrei.fr/robot/
 *      Email: 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 "dsp.h"
#include <n/avr/rs232/rs232.h>
#include <n/avr/proto/proto.h>
#include <n/avr/utils/utils.h>
#include <avr/interrupt.h>
#include <avr/io.h>

#include "pwm.c"
#include "timer.c"
#include "counter.c"
#include "speed.c"
#include "postrack.c"

/** Motor mode :
 * 0 - pwm setup;
 * 1 - speed control;
 * 2 - position control. */
int8_t motor_mode;

/** Main loop counter. */
uint8_t motor_loop_cpt;

/** Statistics about speed control. */
uint8_t motor_stat_speed, motor_stat_speed_cpt;

/** Statistics about pwm values. */
uint8_t motor_stat_pwm, motor_stat_pwm_cpt;

/** Report of timer. */
uint8_t motor_stat_timer, motor_stat_timer_cpt;

/** Report of counters. */
uint8_t motor_stat_counter, motor_stat_counter_cpt;

/** Report position. */
uint8_t motor_stat_postrack, motor_stat_postrack_cpt;

/** Record timer value at different stage of computing. Used for performance
 * analisys. */
uint8_t motor_timer_0, motor_timer_1, motor_timer_2, motor_timer_3;

/* +AutoDec */

/* Main loop. */
static void
main_loop (void);

/** Handle incoming messages. */
static void
proto_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[]);

/* -AutoDec */

/* Entry point. */
int
main (void)
{
    DDRD = 0x60;
    pwm_init ();
    timer_init ();
    counter_init ();
    speed_init ();
    postrack_init ();
    rs232_init ();
    proto_init (proto_callback, rs232_putc);
    proto_send0 ('z');
    sei ();
    main_loop ();
    return 0;
}

/* Main loop. */
static void
main_loop (void)
{
    while (1)
      {
	motor_timer_0 = timer_read ();
	while (!timer_pending ())
	    counter_poll ();
	counter_update ();
	motor_timer_3 = timer_read ();
	postrack_update ();
	motor_timer_2 = timer_read ();
	/* Speed control. */
	if (motor_mode >= 1)
	  {
	    speed_update ();
	    speed_compute_left_pwm ();
	    speed_compute_right_pwm ();
	  }
	motor_timer_1 = timer_read ();
	/* Pwm setup. */
	pwm_update ();
	/* Stats. */
	if (motor_stat_speed && !--motor_stat_speed_cpt)
	  {
	    proto_send4 ('U',
			 speed_left_e_old >> 8, speed_left_e_old,
			 speed_left_int >> 8, speed_left_int);
	    proto_send4 ('V',
			 speed_right_e_old >> 8, speed_right_e_old,
			 speed_right_int >> 8, speed_right_int);
	    motor_stat_speed_cpt = motor_stat_speed;
	  }
	if (motor_stat_pwm && !--motor_stat_pwm_cpt)
	  {
	    proto_send4 ('W',
			 pwm_left >> 8, pwm_left,
			 pwm_right >> 8, pwm_right);
	    motor_stat_pwm_cpt = motor_stat_pwm;
	  }
	if (motor_stat_timer && !--motor_stat_timer_cpt)
	  {
	    proto_send4 ('T', motor_timer_3, motor_timer_2, motor_timer_1,
			 motor_timer_0);
	    motor_stat_timer_cpt = motor_stat_timer;
	  }
	if (motor_stat_counter && !--motor_stat_counter_cpt)
	  {
	    proto_send4 ('C',
			 counter_left >> 8, counter_left,
			 counter_right >> 8, counter_right);
	    motor_stat_counter_cpt = motor_stat_counter;
	if (motor_stat_postrack && !--motor_stat_postrack_cpt)
	  {
	    proto_send4 ('X',
			 postrack_x >> 24, postrack_x >> 16,
			 postrack_x >> 8, postrack_x);
	    proto_send4 ('Y',
			 postrack_y >> 24, postrack_y >> 16,
			 postrack_y >> 8, postrack_y);
	    proto_send4 ('A',
			 postrack_a >> 24, postrack_a >> 16,
			 postrack_a >> 8, postrack_a);
	    motor_stat_postrack_cpt = motor_stat_postrack;
	  }
	/* Misc. */
	if ((motor_loop_cpt & 7) == 0)
	  {
	    if (rs232_poll ())
		proto_accept (rs232_getc ());
	  }
	motor_loop_cpt++;
      }
}

/** Handle incoming messages. */
static void
proto_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[])
{
#define c(cmd, argc) (cmd << 8 | argc)
    switch (c (cmd, argc))
      {
      case c ('z', 0):
	reset ();
	break;
      case c ('w', 0):
	speed_restart ();
	motor_mode = 0;
	pwm_left = 0;
	pwm_right = 0;
	break;
      case c ('w', 4):
	speed_restart ();
	motor_mode = 0;
	pwm_left = argv[0] << 8 | argv[1];
	pwm_right = argv[2] << 8 | argv[3];
	break;
      case c ('s', 2):
	motor_mode = 1;
	speed_left_aim = argv[0];
	speed_right_aim = argv[1];
	break;
      case c ('a', 1):
	speed_acc_cpt = speed_acc = argv[0];
	break;
      case c ('p', 2):
	speed_kp = argv[0] << 8 | argv[1];
	break;
      case c ('i', 2):
	speed_ki = argv[0] << 8 | argv[1];
	break;
      case c ('f', 2):
	postrack_set_footing (argv[0] << 8 | argv[1]);
	break;
      case c ('m', 1):
	motor_stat_speed_cpt = motor_stat_speed = argv[0];
	motor_stat_pwm_cpt = motor_stat_pwm = argv[0];
	break;
      case c ('c', 1):
	motor_stat_counter_cpt = motor_stat_counter = argv[0];
	break;
      case c ('t', 1):
	motor_stat_timer_cpt = motor_stat_timer = argv[0];
	break;
      case c ('T', 1):
	motor_stat_postrack_cpt = motor_stat_postrack = argv[0];
	break;
      default:
	proto_send0 ('e');
	return;
      }
    proto_send (cmd, argc, argv);
#undef c
}