main.c

/*  Copyright 2008 Stephen English, Jeffrey Gough, Alexis Johnson, 
    Robert Spanton and Joanna A. Sun.

    This file is part of the Formica robot firmware.

    The Formica robot firmware 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 3 of the License, or
    (at your option) any later version.

    The Formica robot firmware 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 the Formica robot firmware.  
    If not, see <http://www.gnu.org/licenses/>.  */

/* Standard includes. */
#include <msp430f2254.h>
#include <isr_compat.h>
#include <stdint.h>
#include "device.h"
#include "ir-rx.h"
#include "ir-tx.h"
#include "ir-bias.h"
#include "opamp-1.h"
#include "adc10.h"
#include "random.h"
#include "motor.h"
#include "leds.h"
#include "virus.h"
#include "net-rx.h"
#include "net-tx.h"
#include "battery.h"
#include "food.h"
#include "bearing.h"
#include "flash.h"
#include "time.h"
#include "behav/braitenberg.h"
#include "behav/parking.h"
#include "behav/watchdog.h"

/* when food_level rises above this amount, go to charger */
#define FOOD_THRESHOLD (20 * 60)

/* Initialises everything. */
void init(void);

/* Performs emergency power off.
   Never returns. */
void low_power(void);

int i = 0;

int main( void )
{
    uint32_t chargeopportunity = 0;
    init();

    random_walk_disable();

    time_wait(TICKS_PER_SEC * 1);
    /* start charging if touching charger within 1 second */
    chargeopportunity = the_time + 20;
    leds_set(RED);                // red LED on for 2 seconds
    P4DIR |= (0x09);                 //P40 and P43 are output IR
    P4OUT |= (0x09);            //all IR leds on (3 top, one bottom)
    time_wait(TICKS_PER_SEC * 2);
    leds_set(GREEN);          //green LED on for 1 second
    time_wait(TICKS_PER_SEC * 1);
    leds_set(ORANGE);          //green LED on for 1 second
    time_wait(TICKS_PER_SEC * 1);
    leds_set(RED);          //green LED on for 1 second
    time_wait(TICKS_PER_SEC * 1);
    leds_set(NONE);
    P4OUT &= ~(0x01);
    motor_l=1;              //left motor running at low speed for 1 second
    time_wait(TICKS_PER_SEC *1);
    motor_l=0;
    motor_r=1;              //right motor running at low speed for 1 second
    time_wait(TICKS_PER_SEC *1);
    motor_r=0;

    motor_mode= MOTOR_BK;
    time_wait(TICKS_PER_SEC *2);
    motor_l=2;
    motor_r=2;
    time_wait(TICKS_PER_SEC *1);
    motor_l=0;
    motor_r=0;
    motor_mode= MOTOR_FWD;
    
/*   
    while (the_time < chargeopportunity)
    {
	if ( battery_power_good() )
	{
	    now_parking = !charge_complete;
	}
    }
*/

    leds_set(NONE);

    while(1)
    {
	leds_update_mood();
	    
	if (battery_critical())
	{
	    low_power();
	}

/*	    
	// We may have finished charging
	if( charge_complete )
	{
    	food_level = 0;
	    charge_complete = FALSE;
	    now_parking = 0;
		
	    // reverse out of the charger
	    random_walk_disable();
	    motor_r = motor_l = 6;
	    motor_mode = MOTOR_BK;
		
	    time_wait(5);
	    continue;
	}
*/


/*		
	// Go to the charger if...
	if( battery_low()
        // Or we've reached a defficiency of food
	    || ( food_level > FOOD_THRESHOLD ) 
	    || ( now_parking )  ) 
	{
	     if (battery_low() )
	     {
	             mood = MOOD_DRIVING_TO_CHARGER_FLATBATT;
	     }
	     else if ( food_level > FOOD_THRESHOLD ) 
	     {
		     mood = MOOD_DRIVING_TO_CHARGER_NOFOOD;
	     }
		   
	     now_parking = !charge_complete;
	     parking_update();
	     continue;
	}
*/
	/* Parking involves a static situation, which is incompatible 
	   with the watchdog - hence leave it here. */
	watchdog_update();

/*
	if( hasfood() )
	{
		mood = MOOD_GOT_FOOD;
*/

		/* Are we at the light source? */
		if(light_intensity == 0)
		{
			/* Deposit food here */
			mood = MOOD_AT_LAMP;
			leds_update_mood();
			random_walk_disable();
			motor_r = motor_l = 6;
			motor_mode = MOTOR_FWD;
			time_wait(10);
		}

		/* Do we have a reasonable bearing? */
		else if(bearing_strength > 10)
		{
			random_walk_disable();
			braitenberg_update();
		}
		else
		{
			/* Random Walk */
			random_walk_enable();
		}
	
/*
	}
	else
	{
		// Not got food, just do random walk
		mood = MOOD_NONE;
		random_walk_enable();
	}
*/

  }
}

void init(void)
{
	/* Disable the watchdog timer */
	WDTCTL = WDTHOLD | WDTPW;

	/* GPIO: All inputs */
	P1DIR = P2DIR = P3DIR = P4DIR = 0;

	/* Use a 16 MHz clock (DCO) */
	DCOCTL = CALDCO_16MHZ;
	BCSCTL1 &= ~0x0f;
	BCSCTL1 |= 
		/*XT2O=0: XT2 is on*/
		/*XTS=0: LFXT1 mode select. 0 -Low frequency mode*/
		DIVA_0 /* ACLK Divider 0: /1 */
		|CALBC1_16MHZ; /* BCSCTL1 Calibration Data for 16MHz */

	//BCSCTL2 = SELM_DCOCLK	/* MCLK from DCO */
	BCSCTL2 = SELM_0	/* MCLK from DCO */
		/* DIVMx = 0 : No MCLK divider */
		/* SELS = 0: SMCLK from DCO */
		/* DIVSx = 0 : No SMCLK divider */
		/* DCOR = 0 : DCO internal resistor */
		;

	BCSCTL3 = LFXT1S1; /*VLOCLK */

	//Init everything else
	flash_init();
	opamp1_init();
	bias_init();
	adc10_init(); /* The order here matters. This configures the ADC */
	random_init(); /* Grab some random data */
	net_rx_init();
	net_tx_init();
	ir_receive_init();
	ir_transmit_init();
	motor_init();
	leds_init();
	battery_init();
	food_init();

	_EINT();
	
/* 	virus_init(); */
}

void low_power(void)
{
	/* Use as little power as possible */
	random_walk_disable();

	motor_off();
	fled_off();
			
	/* IR Led off */
	P4OUT &= ~1;
	P4DIR |= 1;
	P4SEL &= ~1;
	
	_DINT();

	_BIS_SR(LPM3_bits);
	while(1);
}