2 * C Implementation: main_test
8 * Author: Petr Kovacik <kovacp1@feld.cvut.cz>, (C) 2006
13 #define _USE_EXR_LEVELS 1
17 #include <periph/sci_rs232.h>
18 #include <system_def.h>
23 #include <pxmc_h2638.h>
25 #include <bth_fce_out.h>
26 #include <bth_inface.h>
31 #include <bth_h8s2638.h>
33 /* SCI channel where Bluetooth is connected */
34 #define SCI_CHAN_BTH 2
36 /*struktury prikazu cmd*/
37 cmd_des_t const cmd_des_help={0, 0,"HELP","prints help for commands",
38 cmd_do_help,{(char*)&cmd_bth}};
40 cmd_des_t const *cmd_rs232_default[]={
44 (cmd_des_t*)cmd_stm_default,
47 cmd_des_t const **cmd_bth=cmd_rs232_default; /*cmd prikazy pro bth*/
48 cmd_des_t const **cmd_rs232=cmd_rs232_default; /*cmd prikazy pro PC*/
51 /*struktury charakterizujici motor 0*/
61 pxms_rs:0, //pxms_subdiv:8,
62 pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
63 pxms_inp_info:(long)TPU_TCNT1, //TPU_TCNT1 /*chanel TPU A,B*/
64 pxms_out_info:(long)PWM_PWBFR1A, /*chanel PWM A,B*/
65 pxms_ene:0, pxms_erc:0,
66 pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
67 pxms_me:0x1800, //6144
68 pxms_ptirc:40, // 2000 irc per rev, 200/4 steps /
72 pxms_cfg:PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m|
73 PXMS_CFG_HPS_m|PXMS_CFG_HDIR_m|0x1
77 /*struktury charakterizujici motor 1*/
87 pxms_rs:0, //pxms_subdiv:8,
88 pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
89 pxms_inp_info:(long)TPU_TCNT2, /*chanel TPU C,D*/
90 pxms_out_info:(long)PWM_PWBFR1C, /*chanel PWM C,D*/
91 pxms_ene:0, pxms_erc:0,
92 pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
93 pxms_me:0x1800, //6144
94 pxms_ptirc:40, // 2000 irc per rev, 200/4 steps /
98 pxms_cfg:PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m| //FIXME: nastavit spravne priznaky pro dalsi motorove struktur
99 PXMS_CFG_HPS_m|PXMS_CFG_HDIR_m|0x1
102 pxmc_state_t *pxmc_main_arr[] = {&mcsX0,&mcsX1};
104 pxmc_state_list_t pxmc_main_list = {
105 pxml_arr:pxmc_main_arr,
106 pxml_cnt:sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0])
111 //*******************************************************
113 void unhandled_exception(void) __attribute__ ((interrupt_handler));
115 /*Interrupt routines*/
116 void unhandled_exception(void)
119 //********************************************************
122 int cmd_rs232_processor_run(void)
127 cmd_io=&cmd_io_rs232;
128 if(cmd_rs232_line_out(cmd_io))
131 if(cmd_rs232_line_in(cmd_io)<=0)
135 val=proc_cmd_line(cmd_io, cmd_rs232, cmd_io->priv.ed_line.in->buf);
140 if(cmd_io->priv.ed_line.out->inbuf){
141 cmd_io_putc(cmd_io,'\r');
142 cmd_io_putc(cmd_io,'\n');
146 cmd_io_write(&cmd_io_rs232,"ERROR ",6);
148 cmd_io_write(cmd_io,s,strlen(s));
149 cmd_io_putc(cmd_io,'\r');
150 cmd_io_putc(cmd_io,'\n');
161 /********************************************************************************/
162 *DIO_PJDDR=0xff; /*output gate*/
163 *DIO_PEDDR=0xff; /*output gate*/
164 *DIO_PEDR=0x60; /*0x0-LED - light all; 0x6 -ENA,ENB=1, LE33CD=0*/
165 *DIO_PJDR=0x00; //switch on all the LEDs - TODO: Use generic macros fot this
168 /*priority preruseni - SCI > TPU*/
169 *SYS_SYSCR|=SYSCR_INTM1m;
170 *INT_IPRA=0x22; *INT_IPRB=0x22; *INT_IPRC=0x04;
171 *INT_IPRD=0x40; *INT_IPRE=0x44; *INT_IPRF=0x55;
172 *INT_IPRG=0x55; *INT_IPRH=0x55; *INT_IPRJ=0x06;
173 *INT_IPRK=0x67; *INT_IPRM=0x66;
175 /* disable and initialize interrupts...*/
177 excptvec_initfill(unhandled_exception, 0);
179 /*nastaveni seriovych linek - Bth, PC*/
180 sci_rs232_setmode(RS232_BAUD_RAW | 3, 0, 0, SCI_CHAN_BTH); // HCI - hardcoded 115200
181 //sci_rs232_setmode(115200, 0, 0, 2); // HCI
182 sci_rs232_setmode(19200, 0, 0, sci_rs232_chan_default); //PC
183 sti(); /* enable interrupts */
185 bth_init(); /* bluetooth initialization */
187 /*inicializace komunikacnich datovych I/O bufferu */
190 /*TPU channel 1 - inicialize (kontrola paketu + pocatecni zpozdeni)*/
191 bth_init_pkt_controll();
193 /*nastaveni zarizeni Bth do slave role*/
194 bth_parametr_slave();
196 /*kratka cas. pouza pro bth zarizeni - mazani zasilanych dat*/
198 // bth_start_TPU_counter();
200 zn_bth=sci_rs232_recch(SCI_CHAN_BTH);
201 } while(bth_get_timer()<11);
205 /* HW setup (TPU, PWM)*/
208 /*nastaveni DC motoru*/
209 pxmc_add_pservice_and_mode(4); /*Macro - mod=4 tj. all motors are DC*/
211 /*nekonecna smycka obsluhujici bth, pc ...*/
213 zn_bth=sci_rs232_recch(SCI_CHAN_BTH);
216 bth_recieve_packet(zn_bth);
219 l2cap_send_data(0, 0);
220 bth_send_queue(); /* send built packets if there are any */
221 cmd_bth_processor_run(); /* run command processor on bluetooth */
222 cmd_rs232_processor_run(); /* run command processor on serial line */
245 #if 0 //male pohybove demo - pohyb robota
250 // long int before = -1;
253 /* long int now = get_timer();
258 pxmc_spd(&mcsX0,a*400,0);
259 pxmc_spd(&mcsX1,-a*700,0);
262 pxmc_spd(&mcsX0,a*700,0);
263 pxmc_spd(&mcsX1,-a*400,0);
266 pxmc_spd(&mcsX0,a*2000,0);
267 pxmc_spd(&mcsX1,-a*1200,0);
270 pxmc_spd(&mcsX0,a*1200,0);
271 pxmc_spd(&mcsX1,-a*2000,0);
274 pxmc_spd(&mcsX0,a*1300,0);
275 pxmc_spd(&mcsX1,-a*1000,0);
278 pxmc_spd(&mcsX0,a*1300,0);
279 pxmc_spd(&mcsX1,-a*1000,0);
282 pxmc_spd(&mcsX0,a*100,0);
283 pxmc_spd(&mcsX1,-a*300,0);
286 pxmc_spd(&mcsX0,a*300,0);
287 pxmc_spd(&mcsX1,-a*100,0);
290 pxmc_spd(&mcsX0,a*2000,0);
291 pxmc_spd(&mcsX1,-a*100,0);
294 pxmc_spd(&mcsX0,a*4000,0);
295 pxmc_spd(&mcsX1,-a*4000,0);