*
* Author: Petr Kovacik <kovacp1@feld.cvut.cz>, (C) 2006
*
-* Copyright:
+* Copyright:
*
*/
#define _USE_EXR_LEVELS 1
#include "cmd_pxmc.h"
#include <bth_h8s2638.h>
+/* SCI channel where Bluetooth is connected */
+#define SCI_CHAN_BTH 2
/*struktury prikazu cmd*/
cmd_des_t const cmd_des_help={0, 0,"HELP","prints help for commands",
cmd_do_help,{(char*)&cmd_bth}};
-
+
cmd_des_t const *cmd_rs232_default[]={
&cmd_des_help,
pxms_rp:155l*256,
pxms_rs:0, //pxms_subdiv:8,
pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
- pxms_inp_info:(long)TPU_TCNT1,//TPU_TCNT1 /*chanel TPU A,B*/
+ pxms_inp_info:(long)TPU_TCNT1, //TPU_TCNT1 /*chanel TPU A,B*/
pxms_out_info:(long)PWM_PWBFR1A, /*chanel PWM A,B*/
pxms_ene:0, pxms_erc:0,
pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
pxmc_state_t *pxmc_main_arr[] = {&mcsX0,&mcsX1};
-#define SUMMOTORS (sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0]))
-
pxmc_state_list_t pxmc_main_list = {
pxml_arr:pxmc_main_arr,
- pxml_cnt:SUMMOTORS
+ pxml_cnt:sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0])
};
//*******************************************************
void unhandled_exception(void) __attribute__ ((interrupt_handler));
-/**
- * init - shaddow registers, outputs..
- *
- * Initializes P1 and P3 shaddow registers,
- * sets PJ.1, PJ.2, PJ.3 LED as outputs,
- * initialises interrupt vector.
- */
-void init()
-{
- /* initialises interrupt vector */
- excptvec_initfill(unhandled_exception, 0);
-}
/*Interrupt routines*/
void unhandled_exception(void)
{
int val;
cmd_io_t* cmd_io;
-
+
cmd_io=&cmd_io_rs232;
if(cmd_rs232_line_out(cmd_io))
return 1;
-
+
if(cmd_rs232_line_in(cmd_io)<=0)
return 0;
val=-CMDERR_BADCMD;
}
- if(cmd_io->priv.ed_line.out->inbuf){
- cmd_io_putc(cmd_io,'\r');
- cmd_io_putc(cmd_io,'\n');
-
- }else if(val<0){
- char s[20];
- cmd_io_write(&cmd_io_rs232,"ERROR ",6);
- i2str(s,-val,0,0);
- cmd_io_write(cmd_io,s,strlen(s));
- cmd_io_putc(cmd_io,'\r');
- cmd_io_putc(cmd_io,'\n');
- }
- return 1;
-}
-
-
-int cmd_bth_processor_run(void)
-{
- int val;
- cmd_io_t* cmd_io;
-
- cmd_io=&cmd_io_bth;
- if(cmd_bth_line_out(cmd_io))
- return 1;
-
- if(cmd_bth_line_in(cmd_io)<=0)
- return 0;
-
- if(cmd_bth){
- val=proc_cmd_line(cmd_io, cmd_bth, cmd_io->priv.ed_line.in->buf);
- }else{
- val=-CMDERR_BADCMD;
- }
-
if(cmd_io->priv.ed_line.out->inbuf){
cmd_io_putc(cmd_io,'\r');
cmd_io_putc(cmd_io,'\n');
}else if(val<0){
char s[20];
- cmd_io_write(&cmd_io_bth,"ERROR ",6);
+ cmd_io_write(&cmd_io_rs232,"ERROR ",6);
i2str(s,-val,0,0);
cmd_io_write(cmd_io,s,strlen(s));
cmd_io_putc(cmd_io,'\r');
*DIO_PJDDR=0xff; /*output gate*/
*DIO_PEDDR=0xff; /*output gate*/
*DIO_PEDR=0x60; /*0x0-LED - light all; 0x6 -ENA,ENB=1, LE33CD=0*/
- *DIO_PJDR=0x00; //rozsviceni vsech diod na */
-
+ *DIO_PJDR=0x00; //switch on all the LEDs - TODO: Use generic macros fot this
+
/*priority preruseni - SCI > TPU*/
*SYS_SYSCR|=SYSCR_INTM1m;
- *INT_IPRA=0x22; *INT_IPRB=0x22; *INT_IPRC=0x04;
+ *INT_IPRA=0x22; *INT_IPRB=0x22; *INT_IPRC=0x04;
*INT_IPRD=0x40; *INT_IPRE=0x44; *INT_IPRF=0x55;
*INT_IPRG=0x55; *INT_IPRH=0x55; *INT_IPRJ=0x06;
*INT_IPRK=0x67; *INT_IPRM=0x66;
- /*povoleni vsech preruseni atd...*/
+ /* disable and initialize interrupts...*/
cli();
- init();
+ excptvec_initfill(unhandled_exception, 0);
/*nastaveni seriovych linek - Bth, PC*/
- sci_rs232_setmode(RS232_BAUD_RAW | 3, 0, 0, 2); // HCI - hardcoded 115200
+ sci_rs232_setmode(RS232_BAUD_RAW | 3, 0, 0, SCI_CHAN_BTH); // HCI - hardcoded 115200
//sci_rs232_setmode(115200, 0, 0, 2); // HCI
sci_rs232_setmode(19200, 0, 0, sci_rs232_chan_default); //PC
- sti();
+ sti(); /* enable interrupts */
- /*inicializace bluetooth*/
- bth_init();
+ bth_init(); /* bluetooth initialization */
/*inicializace komunikacnich datovych I/O bufferu */
bth_inface_setup(0);
- /*TPU kanal 1 - inicialize (kontrola paketu + pocatecni zpozdeni)*/
+ /*TPU channel 1 - inicialize (kontrola paketu + pocatecni zpozdeni)*/
bth_init_pkt_controll();
/*nastaveni zarizeni Bth do slave role*/
/*kratka cas. pouza pro bth zarizeni - mazani zasilanych dat*/
// bth_start_TPU_counter();
- do
- {
- zn_bth=sci_rs232_recch(2);
- }while(bth_get_timer()<11);
+ do {
+ zn_bth=sci_rs232_recch(SCI_CHAN_BTH);
+ } while(bth_get_timer()<11);
+
bth_start();
- /*nastaveni HW (TPU, PWM)*/
- pxmc_set_pwm_tpu(SUMMOTORS);
+ /* HW setup (TPU, PWM)*/
+ pxmc_set_pwm_tpu();
/*nastaveni DC motoru*/
pxmc_add_pservice_and_mode(4); /*Macro - mod=4 tj. all motors are DC*/
/*nekonecna smycka obsluhujici bth, pc ...*/
- do{
- zn_bth=sci_rs232_recch(2);
+ do {
+ zn_bth=sci_rs232_recch(SCI_CHAN_BTH);
if(zn_bth!=-1)
{
bth_recieve_packet(zn_bth);
};
l2cap_send_data(0, 0);
- bth_send_queue(); /*odesli sestavene pakety, pokod jsou*/
- cmd_bth_processor_run(); /*sber + odesilani cmd prikazu bth*/
- cmd_rs232_processor_run(); /*sber + odesilani cmd prikazu PC*/
-
- }while(1);
+ bth_send_queue(); /* send built packets if there are any */
+ cmd_bth_processor_run(); /* run command processor on bluetooth */
+ cmd_rs232_processor_run(); /* run command processor on serial line */
+ } while(1);
return 0;
};
projects / mirosot.git / blobdiff