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-rw-r--r--digital/io-hub/src/common/contact.avr.c98
-rw-r--r--digital/io-hub/src/common/contact.h55
-rw-r--r--digital/io-hub/src/common/contact.host.c98
-rw-r--r--digital/io-hub/src/common/pwm.avr.c133
-rw-r--r--digital/io-hub/src/common/pwm.h60
-rw-r--r--digital/io-hub/src/common/pwm.host.c109
-rw-r--r--digital/io-hub/src/robospierre/Makefile39
-rw-r--r--digital/io-hub/src/robospierre/README24
-rw-r--r--digital/io-hub/src/robospierre/avrconfig.h115
-rw-r--r--digital/io-hub/src/robospierre/bot.h76
-rw-r--r--digital/io-hub/src/robospierre/clamp.c182
-rw-r--r--digital/io-hub/src/robospierre/clamp.h57
-rw-r--r--digital/io-hub/src/robospierre/contact_defs.h37
-rw-r--r--digital/io-hub/src/robospierre/main.c225
-rw-r--r--digital/io-hub/src/robospierre/simu.host.c64
-rw-r--r--digital/io-hub/src/robospierre/simu.host.h36
-rw-r--r--digital/io-hub/tools/io_hub/__init__.py2
-rw-r--r--digital/io-hub/tools/io_hub/init.py6
-rw-r--r--digital/io-hub/tools/io_hub/io_hub.py57
-rw-r--r--digital/io-hub/tools/io_hub/mex.py119
20 files changed, 1592 insertions, 0 deletions
diff --git a/digital/io-hub/src/common/contact.avr.c b/digital/io-hub/src/common/contact.avr.c
new file mode 100644
index 00000000..9f6869b4
--- /dev/null
+++ b/digital/io-hub/src/common/contact.avr.c
@@ -0,0 +1,98 @@
+/* contact.avr.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 "contact.h"
+
+/** Filter depth. */
+#define CONTACT_JACK_FILTER_DEPTH 50
+
+/** Contact context. */
+struct contact_t
+{
+ /** Jack current state. */
+ uint8_t jack_state;
+ /** Jack filter, number of updates before state can change. */
+ uint8_t jack_filter;
+};
+
+/** Global context. */
+struct contact_t contact_global;
+#define ctx contact_global
+
+void
+contact_init (void)
+{
+ /* Pull-up. */
+#define CONTACT(io) IO_SET_ (io);
+ CONTACT (CONTACT_COLOR);
+ CONTACT (CONTACT_JACK);
+ CONTACT_LIST
+#undef CONTACT
+ /* Default to jack out. */
+ ctx.jack_state = 1;
+}
+
+void
+contact_update (void)
+{
+ uint8_t jack_now = IO_GET (CONTACT_JACK);
+ /* If state is unchanged, reset filter. */
+ if (jack_now == ctx.jack_state)
+ ctx.jack_filter = 0;
+ /* If state changed, should be stable for CONTACT_JACK_FILTER_DEPTH before
+ * it goes through the filter. */
+ else if (ctx.jack_filter++ == CONTACT_JACK_FILTER_DEPTH)
+ {
+ ctx.jack_state = jack_now;
+ ctx.jack_filter = 0;
+ }
+}
+
+enum team_color_e
+contact_get_color (void)
+{
+ return !IO_GET (CONTACT_COLOR) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
+}
+
+uint8_t
+contact_get_jack (void)
+{
+ return ctx.jack_state;
+}
+
+uint32_t
+contact_all (void)
+{
+ uint32_t contacts = 0, bit = 1;
+#define CONTACT(io) do { \
+ contacts |= (IO_GET_ (io) ? bit : 0); \
+ bit <<= 1; \
+} while (0);
+ CONTACT (CONTACT_COLOR);
+ CONTACT (CONTACT_JACK);
+ CONTACT_LIST
+#undef CONTACT
+ return contacts;
+}
diff --git a/digital/io-hub/src/common/contact.h b/digital/io-hub/src/common/contact.h
new file mode 100644
index 00000000..fce06f84
--- /dev/null
+++ b/digital/io-hub/src/common/contact.h
@@ -0,0 +1,55 @@
+#ifndef contact_h
+#define contact_h
+/* contact.h */
+/* 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 "simu.host.h"
+#include "defs.h"
+#include "io.h"
+
+#include "contact_defs.h"
+
+/** To get a state of a generic contact, use: IO_GET (CONTACT_EXAMPLE). */
+
+/** Initialize contact module. */
+void
+contact_init (void);
+
+/** Update contact module. This handle debouncing. */
+void
+contact_update (void);
+
+/** Get color switch state, unfiltered. */
+enum team_color_e
+contact_get_color (void);
+
+/** Get filtered jack state. */
+uint8_t
+contact_get_jack (void);
+
+/** Return state of all contact, unfiltered. */
+uint32_t
+contact_all (void);
+
+#endif /* contact_h */
diff --git a/digital/io-hub/src/common/contact.host.c b/digital/io-hub/src/common/contact.host.c
new file mode 100644
index 00000000..5e2309c4
--- /dev/null
+++ b/digital/io-hub/src/common/contact.host.c
@@ -0,0 +1,98 @@
+/* contact.host.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 "contact.h"
+
+#include "modules/host/host.h"
+#include "modules/host/mex.h"
+
+/** Contact context. */
+struct contact_t
+{
+ /** All contact state. */
+ uint32_t all;
+ /** Jack current state. */
+ uint8_t jack_state;
+ /** Color current state. */
+ enum team_color_e color_state;
+};
+
+/** Global context. */
+struct contact_t contact_global;
+#define ctx contact_global
+
+static void
+contact_handle (void *user, mex_msg_t *msg)
+{
+ uint32_t contacts;
+ mex_msg_pop (msg, "L", &contacts);
+ ctx.all = contacts;
+ ctx.color_state = !(contacts & 1) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
+ ctx.jack_state = (contacts & 2) ? 1 : 0;
+ contacts >>= 2;
+#define CONTACT(io) do { \
+ if (contacts & 1) \
+ IO_PIN_ (io) |= IO_BV_ (io); \
+ else \
+ IO_PIN_ (io) &= ~IO_BV_ (io); \
+ contacts >>= 1; \
+} while (0);
+ CONTACT_LIST
+#undef CONTACT
+}
+
+void
+contact_init (void)
+{
+ const char *mex_instance = host_get_instance ("io-hub0", 0);
+ uint8_t mtype = mex_node_reservef ("%s:contact", mex_instance);
+ mex_node_register (mtype, contact_handle, 0);
+ /* Default to jack out. */
+ ctx.jack_state = 1;
+}
+
+void
+contact_update (void)
+{
+ /* Nothing to do. */
+}
+
+enum team_color_e
+contact_get_color (void)
+{
+ return ctx.color_state;
+}
+
+uint8_t
+contact_get_jack (void)
+{
+ return ctx.jack_state;
+}
+
+uint32_t
+contact_all (void)
+{
+ return ctx.all;
+}
diff --git a/digital/io-hub/src/common/pwm.avr.c b/digital/io-hub/src/common/pwm.avr.c
new file mode 100644
index 00000000..4b6ad896
--- /dev/null
+++ b/digital/io-hub/src/common/pwm.avr.c
@@ -0,0 +1,133 @@
+/* pwm.avr.c */
+/* io-hub - Modular Input/Output. {{{
+ *
+ * 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 "pwm.h"
+
+#include "modules/utils/utils.h"
+#include "preproc.h"
+
+/** PWM context. */
+struct pwm_t
+{
+ /** Output compare register. */
+ volatile uint16_t *ocr;
+ /** Direction port. */
+ volatile uint8_t *dir_port;
+ /** Direction bit value. */
+ uint8_t dir_bv;
+ /** Remaining time before timer elapse, 0 for disabled. */
+ uint16_t time;
+ /** Value to be used after timer elapse. */
+ int16_t value_rest;
+};
+
+/** Array of PWM contexts. */
+#define PWM(timer, pwm, pwm_io_port, pwm_io_n, dir_io_port, dir_io_n) \
+{ &PREPROC_PASTE (OCR, timer, pwm), \
+ &IO_PORT_ (dir_io_port, dir_io_n), IO_BV_ (dir_io_port, dir_io_n), \
+ 0, 0 },
+struct pwm_t pwm[] = {
+ AC_IOHUB_PWM
+};
+#undef PWM
+
+void
+pwm_init (void)
+{
+ /* Fast PWM, TOP = 0x3ff, with positive logic.
+ f_IO without prescaler.
+ Fpwm = f_IO / (prescaler * (1 + TOP)). */
+ uint8_t timer_com_1 = 0, timer_com_3 = 0;
+#define PWM(timer, pwm, pwm_io_port, pwm_io_n, dir_io_port, dir_io_n) \
+ do { \
+ PREPROC_PASTE (timer_com_, timer) |= \
+ _BV (PREPROC_PASTE (COM, timer, pwm, 1)); \
+ IO_DDR_ (pwm_io_port, pwm_io_n) |= IO_BV_ (pwm_io_port, pwm_io_n); \
+ IO_DDR_ (dir_io_port, dir_io_n) |= IO_BV_ (dir_io_port, dir_io_n); \
+ } while (0);
+ AC_IOHUB_PWM
+#undef PWM
+ if (timer_com_1)
+ {
+ TCCR1A = timer_com_1 |
+ regv (COM1A1, COM1A0, COM1B1, COM1B0, COM1C1, COM1C0, WGM11, WGM10,
+ 0, 0, 0, 0, 0, 0, 1, 1);
+ TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10,
+ 0, 0, 0, 0, 1, 0, 0, 1);
+ }
+ if (timer_com_3)
+ {
+ TCCR3A = timer_com_3 |
+ regv (COM3A1, COM3A0, COM3B1, COM3B0, COM3C1, COM3C0, WGM31, WGM30,
+ 0, 0, 0, 0, 0, 0, 1, 1);
+ TCCR3B = regv (ICNC3, ICES3, 5, WGM33, WGM32, CS32, CS31, CS30,
+ 0, 0, 0, 0, 1, 0, 0, 1);
+ }
+}
+
+void
+pwm_update (void)
+{
+ uint8_t i;
+ for (i = 0; i < UTILS_COUNT (pwm); i++)
+ {
+ if (pwm[i].time)
+ {
+ pwm[i].time--;
+ if (pwm[i].time == 0)
+ pwm_set (i, pwm[i].value_rest);
+ }
+ }
+}
+
+void
+pwm_set (uint8_t index, int16_t value)
+{
+ assert (index < UTILS_COUNT (pwm));
+ assert (value <= PWM_MAX && value >= -PWM_MAX);
+ pwm[index].time = 0;
+ if (value >= 0)
+ {
+ *pwm[index].dir_port &= ~pwm[index].dir_bv;
+ *pwm[index].ocr = value;
+ }
+ else
+ {
+ *pwm[index].dir_port |= pwm[index].dir_bv;
+ *pwm[index].ocr = -value;
+ }
+}
+
+void
+pwm_set_timed (uint8_t index, int16_t value, uint16_t time, int16_t value_rest)
+{
+ assert (index < UTILS_COUNT (pwm));
+ assert (value <= PWM_MAX && value >= -PWM_MAX);
+ assert (value_rest <= PWM_MAX && value_rest >= -PWM_MAX);
+ pwm_set (index, value);
+ pwm[index].time = time;
+ pwm[index].value_rest = value_rest;
+}
+
diff --git a/digital/io-hub/src/common/pwm.h b/digital/io-hub/src/common/pwm.h
new file mode 100644
index 00000000..aff84b39
--- /dev/null
+++ b/digital/io-hub/src/common/pwm.h
@@ -0,0 +1,60 @@
+#ifndef pwm_h
+#define pwm_h
+/* pwm.h */
+/* io-hub - Modular Input/Output. {{{
+ *
+ * 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.
+ *
+ * }}} */
+
+/** Handle PWM output with direction. Also handle timed PWM setting to apply
+ * a PWM value for a given number of update, then switch to a resting value.
+ *
+ * AC_IOHUB_PWM should be set to a list of space separated PWM macro call:
+ *
+ * PWM (timer, pwm, pwm_io_port, pwm_io_n, dir_io_port, dir_io_n)
+ *
+ * For example:
+ *
+ * PWM (1, A, B, 1, B, 2) => use output compare A on timer 1, PWM output on
+ * B1, direction on B2. */
+
+/** Maximum positive value. */
+#define PWM_MAX 0x3ff
+
+/** Initialise PWM module. */
+void
+pwm_init (void);
+
+/** Update PWM module (handle timed PWM). */
+void
+pwm_update (void);
+
+/** Set PWM value for given PWM index. */
+void
+pwm_set (uint8_t index, int16_t value);
+
+/** Set PWM value for given PWM index for a given time. After time elapsed,
+ * use a rest value. */
+void
+pwm_set_timed (uint8_t index, int16_t value, uint16_t time, int16_t value_rest);
+
+#endif /* pwm_h */
diff --git a/digital/io-hub/src/common/pwm.host.c b/digital/io-hub/src/common/pwm.host.c
new file mode 100644
index 00000000..f528522a
--- /dev/null
+++ b/digital/io-hub/src/common/pwm.host.c
@@ -0,0 +1,109 @@
+/* pwm.host.c */
+/* io-hub - Modular Input/Output. {{{
+ *
+ * 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 "pwm.h"
+
+#include "modules/utils/utils.h"
+#include "modules/host/host.h"
+#include "modules/host/mex.h"
+
+/** PWM context. */
+struct pwm_t
+{
+ /** Current value. */
+ int16_t value;
+ /** Remaining time before timer elapse, 0 for disabled. */
+ uint16_t time;
+ /** Value to be used after timer elapse. */
+ int16_t value_rest;
+};
+
+/** Array of PWM contexts. */
+#define PWM(timer, pwm, pwm_io_port, pwm_io_n, dir_io_port, dir_io_n) \
+ { 0, 0, 0 },
+struct pwm_t pwm[] = {
+ AC_IOHUB_PWM
+};
+#undef PWM
+
+/** Message type. */
+uint8_t pwm_mtype;
+
+/** Message has to be sent. */
+uint8_t pwm_changed;
+
+void
+pwm_init (void)
+{
+ const char *mex_instance = host_get_instance ("io-hub0", 0);
+ pwm_mtype = mex_node_reservef ("%s:pwm", mex_instance);
+}
+
+void
+pwm_update (void)
+{
+ uint8_t i;
+ /* Update timed PWM. */
+ for (i = 0; i < UTILS_COUNT (pwm); i++)
+ {
+ if (pwm[i].time)
+ {
+ pwm[i].time--;
+ if (pwm[i].time == 0)
+ pwm_set (i, pwm[i].value_rest);
+ }
+ }
+ /* Send change if needed. */
+ if (pwm_changed)
+ {
+ mex_msg_t *m = mex_msg_new (pwm_mtype);
+ for (i = 0; i < UTILS_COUNT (pwm); i++)
+ mex_msg_push (m, "h", pwm[i].value);
+ mex_node_send (m);
+ pwm_changed = 0;
+ }
+}
+
+void
+pwm_set (uint8_t index, int16_t value)
+{
+ assert (index < UTILS_COUNT (pwm));
+ assert (value <= PWM_MAX && value >= -PWM_MAX);
+ pwm[index].time = 0;
+ pwm[index].value = value;
+ pwm_changed = 1;
+}
+
+void
+pwm_set_timed (uint8_t index, int16_t value, uint16_t time, int16_t value_rest)
+{
+ assert (index < UTILS_COUNT (pwm));
+ assert (value <= PWM_MAX && value >= -PWM_MAX);
+ assert (value_rest <= PWM_MAX && value_rest >= -PWM_MAX);
+ pwm_set (index, value);
+ pwm[index].time = time;
+ pwm[index].value_rest = value_rest;
+}
+
diff --git a/digital/io-hub/src/robospierre/Makefile b/digital/io-hub/src/robospierre/Makefile
new file mode 100644
index 00000000..21411631
--- /dev/null
+++ b/digital/io-hub/src/robospierre/Makefile
@@ -0,0 +1,39 @@
+# Base directory of AVR.
+BASE = ../../../avr
+# Name of the program to build.
+PROGS = io_hub
+# Sources to compile.
+io_hub_SOURCES = main.c \
+ clamp.c \
+ fsm.host.c fsm_AI_gen.avr.c \
+ pwm.avr.c pwm.host.c \
+ contact.avr.c contact.host.c \
+ twi_master.c asserv.c mimot.c \
+ chrono.c timer.avr.c simu.host.c
+# Modules needed for IO.
+MODULES = proto uart twi utils \
+ math/fixed math/geometry
+AI_MODULES = twi_master common utils fsm
+# Configuration file.
+CONFIGFILE = avrconfig.h
+AVR_MCU = at90usb1287
+# Optimize for speed.
+OPTIMIZE = -O2
+HOST_LIBS = -lm
+
+vpath %.c ../common
+vpath %.h ../common
+vpath %.c $(AI_MODULES:%=../../../ai/src/%)
+vpath %.h $(AI_MODULES:%=../../../ai/src/%)
+INCLUDES += -I. -I../common $(AI_MODULES:%=-I../../../ai/src/%)
+
+EXTRA_CLEAN_FILES = fsm_AI_gen.h fsm_AI_gen.avr.c
+
+include $(BASE)/make/Makefile.gen
+
+# FSM generation.
+obj/main.avr.o: fsm_AI_gen.h
+fsm_AI_gen.avr.c: fsm_AI_gen.h
+fsm_AI_gen.h: io_hub.host
+ ./$< --gen
+ mv fsm_AI_gen.c fsm_AI_gen.avr.c
diff --git a/digital/io-hub/src/robospierre/README b/digital/io-hub/src/robospierre/README
new file mode 100644
index 00000000..eaa65ad4
--- /dev/null
+++ b/digital/io-hub/src/robospierre/README
@@ -0,0 +1,24 @@
+robospierre - Eurobot 2011 AI.
+
+AI & IO for the APBTeam Robot Robospierre.
+
+
+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.
diff --git a/digital/io-hub/src/robospierre/avrconfig.h b/digital/io-hub/src/robospierre/avrconfig.h
new file mode 100644
index 00000000..0fc2f11d
--- /dev/null
+++ b/digital/io-hub/src/robospierre/avrconfig.h
@@ -0,0 +1,115 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 16000000
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL WAIT
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 12
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* twi - TWI module. */
+/** Driver to implement TWI: HARD, SOFT, or USI. */
+#define AC_TWI_DRIVER HARD
+/** Do not use interrupts. */
+#define AC_TWI_NO_INTERRUPT 0
+/** TWI frequency, should really be 100 kHz. */
+#define AC_TWI_FREQ 100000
+/** Enable slave part. */
+#define AC_TWI_SLAVE_ENABLE 0
+/** Enable master part. */
+#define AC_TWI_MASTER_ENABLE 1
+/** Master transfer completion callback, optionally defined by the user, called
+ * at end of master transfer. */
+#undef AC_TWI_MASTER_DONE
+/** Use internal pull up. */
+#define AC_TWI_PULL_UP 0
+
+/* io-hub - io/ai board. */
+/** TWI address of the io board. */
+#define AC_IO_TWI_ADDRESS 10
+/** PWM setting. */
+#define AC_IOHUB_PWM \
+ PWM (1, A, B, 5, D, 4) \
+ PWM (1, B, B, 6, D, 5) \
+ PWM (1, C, B, 7, D, 6) \
+ PWM (3, A, C, 6, C, 7) \
+ PWM (3, B, C, 5, C, 3) \
+ PWM (3, C, C, 4, C, 2)
+
+#endif /* avrconfig_h */
diff --git a/digital/io-hub/src/robospierre/bot.h b/digital/io-hub/src/robospierre/bot.h
new file mode 100644
index 00000000..9043a62c
--- /dev/null
+++ b/digital/io-hub/src/robospierre/bot.h
@@ -0,0 +1,76 @@
+#ifndef bot_h
+#define bot_h
+/* bot.h */
+/* 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.
+ *
+ * }}} */
+
+/** Robot specific defines. */
+
+/** Scaling factor, millimeter per step. */
+#ifdef HOST
+# define BOT_SCALE 0.0395840674352314
+#else
+# define BOT_SCALE 0.0415178942124
+#endif
+
+#ifdef HOST
+
+# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0
+# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x3b0b
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3b0b
+# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3b0b
+# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP (0x3b0b / 2)
+
+# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP 0
+# define BOT_CLAMP_BAY_BACK_ROTATION_STEP 0x11c6
+# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP (0x11c6 / 2)
+
+#else /* !HOST */
+
+# define BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP 0
+# define BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP 0x3288
+# define BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP 0
+# define BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP 0x3288
+# define BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP 0x3288
+# define BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP 0x1d83
+# define BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP 0x1d83
+
+# define BOT_CLAMP_BAY_FRONT_ROTATION_STEP 0
+# define BOT_CLAMP_BAY_BACK_ROTATION_STEP 0x10e2
+# define BOT_CLAMP_BAY_SIDE_ROTATION_STEP 0x820
+
+#endif /* !HOST */
+
+#define BOT_CLAMP_ELEVATION_SPEED 0x60
+#define BOT_CLAMP_ROTATION_SPEED 0x30
+
+#endif /* bot_h */
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
new file mode 100644
index 00000000..2f1b2471
--- /dev/null
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -0,0 +1,182 @@
+/* clamp.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 "clamp.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+
+#include "mimot.h"
+#include "bot.h"
+
+FSM_INIT
+
+FSM_STATES (
+ /* Wait order. */
+ CLAMP_IDLE,
+ /* Moving to a final or intermediary position. */
+ CLAMP_ROUTING)
+
+FSM_EVENTS (
+ /* Order to move the clamp. */
+ clamp_move,
+ /* Elevation and elevation motor success. */
+ clamp_elevation_rotation_success,
+ /* Elevation motor failure. */
+ clamp_elevation_failure,
+ /* Rotation motor failure. */
+ clamp_rotation_failure)
+
+FSM_START_WITH (CLAMP_IDLE)
+
+/** Clamp context. */
+struct clamp_t
+{
+ /* Current position. */
+ uint8_t pos_current;
+ /* Requested position. */
+ uint8_t pos_request;
+};
+
+/** Global context. */
+struct clamp_t clamp_global;
+#define ctx clamp_global
+
+/** Clamp positions. */
+static const uint16_t clamp_pos[][2] = {
+ { BOT_CLAMP_SLOT_FRONT_BOTTOM_ELEVATION_STEP,
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_FRONT_MIDDLE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_FRONT_TOP_ELEVATION_STEP,
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_BACK_BOTTOM_ELEVATION_STEP,
+ BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_BACK_MIDDLE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_BACK_TOP_ELEVATION_STEP,
+ BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_SLOT_SIDE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
+ { BOT_CLAMP_BAY_FRONT_LEAVE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_FRONT_ROTATION_STEP },
+ { BOT_CLAMP_BAY_BACK_LEAVE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_BACK_ROTATION_STEP },
+ { BOT_CLAMP_BAY_SIDE_ENTER_LEAVE_ELEVATION_STEP,
+ BOT_CLAMP_BAY_SIDE_ROTATION_STEP },
+};
+
+void
+clamp_move (uint8_t pos)
+{
+ if (pos != ctx.pos_current)
+ {
+ ctx.pos_request = pos;
+ FSM_HANDLE (AI, clamp_move);
+ }
+}
+
+/** Find next position and start motors. */
+static void
+clamp_route (void)
+{
+ uint8_t pos_new;
+ uint8_t pos_current = ctx.pos_current;
+ uint8_t pos_request = ctx.pos_request;
+ /* Compute new position. */
+ if (CLAMP_IS_SLOT_IN_FRONT_BAY (pos_current))
+ {
+ if (!CLAMP_IS_SLOT_IN_FRONT_BAY (pos_request))
+ pos_new = CLAMP_BAY_FRONT_LEAVE;
+ else
+ pos_new = pos_request;
+ }
+ else if (CLAMP_IS_SLOT_IN_BACK_BAY (pos_current))
+ {
+ if (!CLAMP_IS_SLOT_IN_BACK_BAY (pos_request))
+ pos_new = CLAMP_BAY_BACK_LEAVE;
+ else
+ pos_new = pos_request;
+ }
+ else if (pos_current == CLAMP_SLOT_SIDE)
+ {
+ pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
+ }
+ else if (pos_current == CLAMP_BAY_FRONT_LEAVE)
+ {
+ if (pos_request == CLAMP_SLOT_SIDE)
+ pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
+ else
+ pos_new = CLAMP_SLOT_BACK_MIDDLE;
+ }
+ else if (pos_current == CLAMP_BAY_BACK_LEAVE)
+ {
+ if (pos_request == CLAMP_SLOT_SIDE)
+ pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
+ else
+ pos_new = CLAMP_SLOT_FRONT_MIDDLE;
+ }
+ else
+ {
+ assert (pos_current == CLAMP_BAY_SIDE_ENTER_LEAVE);
+ if (pos_request == CLAMP_SLOT_SIDE)
+ pos_new = pos_request;
+ else if (CLAMP_IS_SLOT_IN_FRONT_BAY (pos_request))
+ pos_new = CLAMP_SLOT_FRONT_MIDDLE;
+ else
+ pos_new = CLAMP_SLOT_BACK_MIDDLE;
+ }
+ /* Run motors. */
+ mimot_move_motor0_absolute (clamp_pos[pos_new][0],
+ BOT_CLAMP_ELEVATION_SPEED);
+ mimot_move_motor1_absolute (clamp_pos[pos_new][1],
+ BOT_CLAMP_ROTATION_SPEED);
+ /* Remember new position. */
+ ctx.pos_current = pos_new;
+}
+
+FSM_TRANS (CLAMP_IDLE, clamp_move, CLAMP_ROUTING)
+{
+ clamp_route ();
+ return FSM_NEXT (CLAMP_IDLE, clamp_move);
+}
+
+FSM_TRANS (CLAMP_ROUTING, clamp_elevation_rotation_success,
+ done, CLAMP_IDLE,
+ next, CLAMP_ROUTING)
+{
+ if (ctx.pos_current == ctx.pos_request)
+ {
+ return FSM_NEXT (CLAMP_ROUTING, clamp_elevation_rotation_success,
+ done);
+ }
+ else
+ {
+ clamp_route ();
+ return FSM_NEXT (CLAMP_ROUTING, clamp_elevation_rotation_success,
+ next);
+ }
+}
+
diff --git a/digital/io-hub/src/robospierre/clamp.h b/digital/io-hub/src/robospierre/clamp.h
new file mode 100644
index 00000000..104e3cb8
--- /dev/null
+++ b/digital/io-hub/src/robospierre/clamp.h
@@ -0,0 +1,57 @@
+#ifndef clamp_h
+#define clamp_h
+/* clamp.h */
+/* 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.
+ *
+ * }}} */
+
+enum {
+ /** Slot positions. */
+ CLAMP_SLOT_FRONT_BOTTOM,
+ CLAMP_SLOT_FRONT_MIDDLE,
+ CLAMP_SLOT_FRONT_TOP,
+ CLAMP_SLOT_BACK_BOTTOM,
+ CLAMP_SLOT_BACK_MIDDLE,
+ CLAMP_SLOT_BACK_TOP,
+ CLAMP_SLOT_SIDE,
+ /** Leave the front bay, ready to enter side tunnel. */
+ CLAMP_BAY_FRONT_LEAVE,
+ /** Leave the back bay, ready to enter side tunnel. */
+ CLAMP_BAY_BACK_LEAVE,
+ /* Enter the side bay. Position on the side, above wheels. */
+ CLAMP_BAY_SIDE_ENTER_LEAVE,
+};
+
+/** Is slot in front bay? */
+#define CLAMP_IS_SLOT_IN_FRONT_BAY(slot) \
+ ((slot) <= CLAMP_SLOT_FRONT_TOP)
+
+/** Is slot in back bay? */
+#define CLAMP_IS_SLOT_IN_BACK_BAY(slot) \
+ ((slot) >= CLAMP_SLOT_BACK_BOTTOM && (slot) <= CLAMP_SLOT_BACK_TOP)
+
+/** Move clamp to given position. */
+void
+clamp_move (uint8_t pos);
+
+#endif /* clamp_h */
diff --git a/digital/io-hub/src/robospierre/contact_defs.h b/digital/io-hub/src/robospierre/contact_defs.h
new file mode 100644
index 00000000..55b34354
--- /dev/null
+++ b/digital/io-hub/src/robospierre/contact_defs.h
@@ -0,0 +1,37 @@
+#ifndef contact_defs_h
+#define contact_defs_h
+/* contact_defs.h */
+/* 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.
+ *
+ * }}} */
+
+#define CONTACT_COLOR A, 7
+#define CONTACT_JACK F, 7
+#define CONTACT_EX1 E, 0
+#define CONTACT_EX2 E, 1
+
+#define CONTACT_LIST \
+ CONTACT (CONTACT_EX1) \
+ CONTACT (CONTACT_EX2)
+
+#endif /* contact_defs_h */
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
new file mode 100644
index 00000000..3a32a1ae
--- /dev/null
+++ b/digital/io-hub/src/robospierre/main.c
@@ -0,0 +1,225 @@
+/* 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 "pwm.h"
+#include "contact.h"
+
+#define FSM_NAME AI
+#include "fsm.h"
+#ifdef HOST
+# include <string.h>
+#endif
+
+#include "clamp.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_;
+
+/** Contact stats counters. */
+static uint8_t main_stats_contact_, main_stats_contact_cpt_;
+
+/** Main initialisation. */
+static void
+main_init (void)
+{
+ /* Serial port */
+ uart0_init ();
+ /* Enable interrupts */
+ sei ();
+ /* Main timer */
+ timer_init ();
+ timer_wait ();
+ /* TWI communications */
+ asserv_init ();
+ mimot_init ();
+ twi_master_init ();
+ /* IO modules. */
+ pwm_init ();
+ contact_init ();
+ /* Initialization done. */
+ proto_send0 ('z');
+}
+
+/** Main events management. */
+void
+main_event_to_fsm (void)
+{
+ /* If an event is handled, stop generating any other event, because a
+ * transition may have invalidated the current robot state. */
+#define FSM_HANDLE_E(fsm, event) \
+ do { if (FSM_HANDLE (fsm, event)) return; } while (0)
+#define FSM_HANDLE_VAR_E(fsm, event) \
+ do { if (FSM_HANDLE_VAR (fsm, event)) return; } while (0)
+#define FSM_HANDLE_TIMEOUT_E(fsm) \
+ do { if (FSM_HANDLE_TIMEOUT (fsm)) return; } while (0)
+ /* Update FSM timeouts. */
+ //FSM_HANDLE_TIMEOUT_E (AI);
+ /* Motor status. */
+ asserv_status_e mimot_motor0_status, mimot_motor1_status;
+ mimot_motor0_status = mimot_motor0_cmd_status ();
+ mimot_motor1_status = mimot_motor1_cmd_status ();
+ if (mimot_motor0_status == success
+ && mimot_motor1_status == success)
+ FSM_HANDLE_E (AI, clamp_elevation_rotation_success);
+ else if (mimot_motor0_status == failure)
+ FSM_HANDLE_E (AI, clamp_elevation_failure);
+ else if (mimot_motor1_status == failure)
+ FSM_HANDLE_E (AI, clamp_rotation_failure);
+}
+
+/** 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 ());
+ /* Update IO modules. */
+ pwm_update ();
+ contact_update ();
+ /* 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_;
+ }
+ if (main_stats_contact_ && !--main_stats_contact_cpt_)
+ {
+ proto_send1d ('P', contact_all ());
+ main_stats_contact_cpt_ = main_stats_contact_;
+ }
+ }
+}
+
+/** 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;
+ case c ('w', 3):
+ /* Set PWM.
+ * - 1b: index.
+ * - 1w: value. */
+ pwm_set (args[0], v8_to_v16 (args[1], args[2]));
+ break;
+ case c ('w', 7):
+ /* Set timed PWM.
+ * - 1b: index.
+ * - 1w: value.
+ * - 1w: time.
+ * - 1w: rest value. */
+ pwm_set_timed (args[0], v8_to_v16 (args[1], args[2]),
+ v8_to_v16 (args[3], args[4]),
+ v8_to_v16 (args[5], args[6]));
+ break;
+ case c ('c', 1):
+ /* Move clamp.
+ * - 1b: position. */
+ clamp_move (args[0]);
+ break;
+ /* Stats commands.
+ * - b: interval between stats. */
+ case c ('A', 1):
+ /* Position stats. */
+ main_stats_asserv_ = main_stats_asserv_cpt_ = args[0];
+ break;
+ case c ('P', 1):
+ /* Contact stats. */
+ main_stats_contact_ = main_stats_contact_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)
+{
+#ifdef HOST
+ /* Produce AVR's FSM headers. */
+ int i;
+ if (argc > 1)
+ for (i = 1; i < argc; i++)
+ if (strcmp (argv[i], "--gen") == 0)
+ {
+ FSM_GENERATE (AVR, 0);
+ return 0;
+ }
+#endif
+ avr_init (argc, argv);
+ main_init ();
+ main_loop ();
+ return 0;
+}
diff --git a/digital/io-hub/src/robospierre/simu.host.c b/digital/io-hub/src/robospierre/simu.host.c
new file mode 100644
index 00000000..8f4019aa
--- /dev/null
+++ b/digital/io-hub/src/robospierre/simu.host.c
@@ -0,0 +1,64 @@
+/* simu.host.c - Host simulation. */
+/* 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 "simu.host.h"
+
+#include "modules/utils/utils.h"
+#include "modules/host/host.h"
+#include "modules/host/mex.h"
+#include "io.h"
+
+/** AVR registers. */
+uint8_t PINE;
+
+/** Initialise simulation. */
+void
+simu_init (void)
+{
+ const char *mex_instance;
+ mex_node_connect ();
+ mex_instance = host_get_instance ("io-hub0", 0);
+}
+
+/** Make a simulation step. */
+void
+simu_step (void)
+{
+}
+
+void
+timer_init (void)
+{
+ simu_init ();
+}
+
+uint8_t
+timer_wait (void)
+{
+ mex_node_wait_date (mex_node_date () + 4);
+ simu_step ();
+ return 0;
+}
+
diff --git a/digital/io-hub/src/robospierre/simu.host.h b/digital/io-hub/src/robospierre/simu.host.h
new file mode 100644
index 00000000..4b461e86
--- /dev/null
+++ b/digital/io-hub/src/robospierre/simu.host.h
@@ -0,0 +1,36 @@
+#ifndef simu_host_h
+#define simu_host_h
+/* simu.host.h - Host simulation. */
+/* 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.
+ *
+ * }}} */
+
+#ifdef HOST
+
+extern uint8_t PINE;
+
+#else /* !defined (HOST) */
+
+#endif /* !defined (HOST) */
+
+#endif /* simu_host_h */
diff --git a/digital/io-hub/tools/io_hub/__init__.py b/digital/io-hub/tools/io_hub/__init__.py
new file mode 100644
index 00000000..e84cb000
--- /dev/null
+++ b/digital/io-hub/tools/io_hub/__init__.py
@@ -0,0 +1,2 @@
+from io_hub import Proto
+from mex import Mex
diff --git a/digital/io-hub/tools/io_hub/init.py b/digital/io-hub/tools/io_hub/init.py
new file mode 100644
index 00000000..2adaa85c
--- /dev/null
+++ b/digital/io-hub/tools/io_hub/init.py
@@ -0,0 +1,6 @@
+"""Default parameters for io-hub."""
+host = {
+ 'robospierre': dict (
+ ),
+ }
+target = host
diff --git a/digital/io-hub/tools/io_hub/io_hub.py b/digital/io-hub/tools/io_hub/io_hub.py
new file mode 100644
index 00000000..a363e5f6
--- /dev/null
+++ b/digital/io-hub/tools/io_hub/io_hub.py
@@ -0,0 +1,57 @@
+# io-hub - Modular Input/Output. {{{
+#
+# 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.
+#
+# }}}
+import proto, time
+
+class Proto:
+
+ def __init__ (self, file, time = time.time, **param):
+ self.proto = proto.Proto (file, time, 0.1)
+ self.async = False
+ self.param = param
+ self.send_param ()
+
+ def send_param (self):
+ pass
+
+ def reset (self):
+ self.proto.send ('z')
+ self.proto.send ('z')
+
+ def pwm_set (self, index, value):
+ self.proto.send ('w', 'Bh', index, value)
+
+ def pwm_set_timed (self, index, value, time, rest_value):
+ self.proto.send ('w', 'BhHh', index, value, time, rest_value)
+
+ def clamp_move (self, pos):
+ self.proto.send ('c', 'B', pos)
+
+ def close (self):
+ self.reset ()
+ self.proto.wait (lambda: True)
+ self.proto.file.close ()
+
+ def fileno (self):
+ return self.proto.fileno ()
+
diff --git a/digital/io-hub/tools/io_hub/mex.py b/digital/io-hub/tools/io_hub/mex.py
new file mode 100644
index 00000000..7c8c0012
--- /dev/null
+++ b/digital/io-hub/tools/io_hub/mex.py
@@ -0,0 +1,119 @@
+# io-hub - Modular Input/Output. {{{
+#
+# 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.
+#
+# }}}
+"""Mex interface to io-hub."""
+
+from utils.observable import Observable
+import simu.mex.msg
+
+ADC_NB = 8
+
+PWM_NB = 6
+PWM_VALUE_MAX = 1024
+
+CONTACT_NB = 4
+CONTACT_INIT = 0xffffffff
+
+class Mex:
+ """Handle communications with simulated io-hub."""
+
+ class ADC (Observable):
+ """Analog to digital input."
+
+ - value: volts.
+
+ """
+
+ def __init__ (self):
+ Observable.__init__ (self)
+ self.value = None
+
+ class PWM (Observable):
+ """PWM output.
+
+ - value: current PWM value (-1 ... +1).
+
+ """
+
+ def __init__ (self):
+ Observable.__init__ (self)
+ self.value = None
+
+ class Pack:
+ """Handle reception of several PWM for one message."""
+
+ def __init__ (self, node, instance, list):
+ self.__list = list
+ node.register (instance + ':pwm', self.__handle)
+
+ def __handle (self, msg):
+ values = msg.pop ('%dh' % len (self.__list))
+ for pwm, value in zip (self.__list, values):
+ pwm.value = float (value) / PWM_VALUE_MAX
+ pwm.notify ()
+
+ class Contact (Observable):
+ """Contact input.
+
+ - state: True (open) or False (closed).
+
+ """
+
+ def __init__ (self, pack, index):
+ Observable.__init__ (self)
+ self.pack = pack
+ self.index = index
+ self.state = None
+ self.register (self.__notified)
+
+ def __notified (self):
+ self.pack.set (self.index, self.state)
+
+ class Pack:
+ """Handle emission of several contacts for one message."""
+
+ def __init__ (self, node, instance):
+ self.node = node
+ self.contacts = CONTACT_INIT
+ self.mtype = node.reserve (instance + ':contact')
+
+ def set (self, index, state):
+ if state is None or state:
+ self.contacts |= 1 << index
+ else:
+ self.contacts &= ~(1 << index)
+ self.__send ()
+
+ def __send (self):
+ m = simu.mex.msg.Msg (self.mtype)
+ m.push ('L', self.contacts)
+ self.node.send (m)
+
+ def __init__ (self, node, instance = 'io-hub0'):
+ self.adc = tuple (self.ADC () for i in range (0, ADC_NB))
+ self.pwm = tuple (self.PWM () for i in range (0, PWM_NB))
+ self.__adc_pwm = self.PWM.Pack (node, instance, self.pwm)
+ self.__contact_pack = self.Contact.Pack (node, instance)
+ self.contact = tuple (self.Contact (self.__contact_pack, i)
+ for i in range (CONTACT_NB))
+