2 * C Implementation: main_test
8 * Author: Petr Kovacik <kovacp1@feld.cvut.cz>, (C) 2006
16 #include <periph/sci_rs232.h>
17 #include <system_def.h>
22 #include <pxmc_h2638.h>
24 #include <bth_fce_out.h>
25 #include <bth_inface.h>
30 #include <bth_h8s2638.h>
32 /* SCI channel where Bluetooth is connected */
33 #define SCI_CHAN_BTH 2
35 /*struktury prikazu cmd*/
36 cmd_des_t const cmd_des_help={0, 0,"HELP","prints help for commands",
37 cmd_do_help,{(char*)&cmd_bth}};
39 cmd_des_t const *cmd_rs232_default[]={
43 (cmd_des_t*)cmd_stm_default,
46 cmd_des_t const **cmd_bth=cmd_rs232_default; /*cmd prikazy pro bth*/
47 cmd_des_t const **cmd_rs232=cmd_rs232_default; /*cmd prikazy pro PC*/
50 /*struktury charakterizujici motor 0*/
60 pxms_rs:0, //pxms_subdiv:8,
61 pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
62 pxms_inp_info:(long)TPU_TCNT1, //TPU_TCNT1 /*chanel TPU A,B*/
63 pxms_out_info:(long)PWM_PWBFR1A, /*chanel PWM A,B*/
64 pxms_ene:0, pxms_erc:0,
65 pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
66 pxms_me:0x1800, //6144
67 pxms_ptirc:40, // 2000 irc per rev, 200/4 steps /
71 pxms_cfg:PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m|
72 PXMS_CFG_HPS_m|PXMS_CFG_HDIR_m|0x1
76 /*struktury charakterizujici motor 1*/
86 pxms_rs:0, //pxms_subdiv:8,
87 pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
88 pxms_inp_info:(long)TPU_TCNT2, /*chanel TPU C,D*/
89 pxms_out_info:(long)PWM_PWBFR1C, /*chanel PWM C,D*/
90 pxms_ene:0, pxms_erc:0,
91 pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
92 pxms_me:0x1800, //6144
93 pxms_ptirc:40, // 2000 irc per rev, 200/4 steps /
97 pxms_cfg:PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m| //FIXME: nastavit spravne priznaky pro dalsi motorove struktur
98 PXMS_CFG_HPS_m|PXMS_CFG_HDIR_m|0x1
101 pxmc_state_t *pxmc_main_arr[] = {&mcsX0,&mcsX1};
103 pxmc_state_list_t pxmc_main_list = {
104 pxml_arr:pxmc_main_arr,
105 pxml_cnt:sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0])
110 //*******************************************************
112 void unhandled_exception(void) __attribute__ ((interrupt_handler));
114 /*Interrupt routines*/
115 void unhandled_exception(void)
118 //********************************************************
121 int cmd_rs232_processor_run(void)
126 cmd_io=&cmd_io_rs232;
127 if(cmd_rs232_line_out(cmd_io))
130 if(cmd_rs232_line_in(cmd_io)<=0)
134 val=proc_cmd_line(cmd_io, cmd_rs232, cmd_io->priv.ed_line.in->buf);
139 if(cmd_io->priv.ed_line.out->inbuf){
140 cmd_io_putc(cmd_io,'\r');
141 cmd_io_putc(cmd_io,'\n');
145 cmd_io_write(&cmd_io_rs232,"ERROR ",6);
147 cmd_io_write(cmd_io,s,strlen(s));
148 cmd_io_putc(cmd_io,'\r');
149 cmd_io_putc(cmd_io,'\n');
160 /********************************************************************************/
161 *DIO_PJDDR=0xff; /*output gate*/
162 *DIO_PEDDR=0xff; /*output gate*/
163 *DIO_PEDR=0x60; /*0x0-LED - light all; 0x6 -ENA,ENB=1, LE33CD=0*/
164 *DIO_PJDR=0x00; //switch on all the LEDs - TODO: Use generic macros fot this
167 /*priority preruseni - SCI > TPU*/
168 *SYS_SYSCR|=SYSCR_INTM1m;
169 *INT_IPRA=0x22; *INT_IPRB=0x22; *INT_IPRC=0x04;
170 *INT_IPRD=0x40; *INT_IPRE=0x44; *INT_IPRF=0x55;
171 *INT_IPRG=0x55; *INT_IPRH=0x55; *INT_IPRJ=0x06;
172 *INT_IPRK=0x67; *INT_IPRM=0x66;
174 /* disable and initialize interrupts...*/
176 excptvec_initfill(unhandled_exception, 0);
178 /*nastaveni seriovych linek - Bth, PC*/
179 sci_rs232_setmode(RS232_BAUD_RAW | 3, 0, 0, SCI_CHAN_BTH); // HCI - hardcoded 115200
180 //sci_rs232_setmode(115200, 0, 0, 2); // HCI
181 sci_rs232_setmode(19200, 0, 0, sci_rs232_chan_default); //PC
182 sti(); /* enable interrupts */
184 bth_init(); /* bluetooth initialization */
186 /*inicializace komunikacnich datovych I/O bufferu */
189 /*TPU channel 1 - inicialize (kontrola paketu + pocatecni zpozdeni)*/
190 bth_init_pkt_controll();
192 /*nastaveni zarizeni Bth do slave role*/
193 bth_parametr_slave();
195 /*kratka cas. pouza pro bth zarizeni - mazani zasilanych dat*/
197 // bth_start_TPU_counter();
199 zn_bth=sci_rs232_recch(SCI_CHAN_BTH);
200 } while(bth_get_timer()<11);
204 /* HW setup (TPU, PWM)*/
207 /*nastaveni DC motoru*/
208 pxmc_add_pservice_and_mode(4); /*Macro - mod=4 tj. all motors are DC*/
210 /*nekonecna smycka obsluhujici bth, pc ...*/
212 zn_bth=sci_rs232_recch(SCI_CHAN_BTH);
215 bth_recieve_packet(zn_bth);
218 l2cap_send_data(0, 0);
219 bth_send_queue(); /* send built packets if there are any */
220 cmd_bth_processor_run(); /* run command processor on bluetooth */
221 cmd_rs232_processor_run(); /* run command processor on serial line */
244 #if 0 //male pohybove demo - pohyb robota
249 // long int before = -1;
252 /* long int now = get_timer();
257 pxmc_spd(&mcsX0,a*400,0);
258 pxmc_spd(&mcsX1,-a*700,0);
261 pxmc_spd(&mcsX0,a*700,0);
262 pxmc_spd(&mcsX1,-a*400,0);
265 pxmc_spd(&mcsX0,a*2000,0);
266 pxmc_spd(&mcsX1,-a*1200,0);
269 pxmc_spd(&mcsX0,a*1200,0);
270 pxmc_spd(&mcsX1,-a*2000,0);
273 pxmc_spd(&mcsX0,a*1300,0);
274 pxmc_spd(&mcsX1,-a*1000,0);
277 pxmc_spd(&mcsX0,a*1300,0);
278 pxmc_spd(&mcsX1,-a*1000,0);
281 pxmc_spd(&mcsX0,a*100,0);
282 pxmc_spd(&mcsX1,-a*300,0);
285 pxmc_spd(&mcsX0,a*300,0);
286 pxmc_spd(&mcsX1,-a*100,0);
289 pxmc_spd(&mcsX0,a*2000,0);
290 pxmc_spd(&mcsX1,-a*100,0);
293 pxmc_spd(&mcsX0,a*4000,0);
294 pxmc_spd(&mcsX1,-a*4000,0);