2 * Copyright Droids Corporation
3 * Olivier Matz <zer0@droids-corp.org>
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this program; if not, write to the Free Software
17 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
19 * Revision : $Id: ax12_user.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
24 #include <aversive/list.h>
25 #include <aversive/error.h>
31 #include <clock_time.h>
36 #include <control_system_manager.h>
37 #include <trajectory_manager.h>
38 #include <vect_base.h>
41 #include <obstacle_avoidance.h>
42 #include <blocking_detection_manager.h>
43 #include <robot_system.h>
44 #include <position_manager.h>
48 #include <parse_string.h>
49 #include <parse_num.h>
54 * Cmdline interface for AX12. Use the PC to command a daisy-chain of
55 * AX12 actuators with a nice command line interface.
57 * The circuit should be as following:
60 * | uart3|------->--- PC (baudrate=57600)
64 * | uart0|---->---+-- AX12 (baudrate 115200)
68 * Note that RX and TX pins of UART1 are connected together to provide
69 * a half-duplex UART emulation.
73 #define UART_AX12_NUM 0
75 #define AX12_TIMEOUT 5000UL /* in us */
77 /********************************* AX12 commands */
80 * We use synchronous access (not interrupt driven) to the hardware
81 * UART, because we have to be sure that the transmission/reception is
82 * really finished when we return from the functions.
84 * We don't use the CM-5 circuit as described in the AX12
85 * documentation, we simply connect TX and RX and use TXEN + RXEN +
86 * DDR to manage the port directions.
91 static volatile uint8_t ax12_state = AX12_STATE_READ;
92 static volatile uint8_t ax12_nsent = 0;
94 /* Called by ax12 module to send a character on serial line. Count the
95 * number of transmitted bytes. It will be used in ax12_recv_char() to
96 * drop the bytes that we transmitted. */
97 static int8_t ax12_send_char(uint8_t c)
99 uart_send(UART_AX12_NUM, c);
109 /* called by uart module when the character has been written in
110 * UDR. It does not mean that the byte is physically transmitted. */
111 static void ax12_send_callback(char c)
113 if (ax12_state == AX12_STATE_READ) {
114 /* disable TX when last byte is pushed. */
115 if (CIRBUF_IS_EMPTY(&g_tx_fifo[UART_AX12_NUM]))
116 UCSRxB &= ~(1<<TXEN);
120 /* Called by ax12 module when we want to receive a char. Note that we
121 * also receive the bytes we sent ! So we need to drop them. */
122 static int16_t ax12_recv_char(void)
124 microseconds t = time_get_us2();
127 c = uart_recv_nowait(UART_AX12_NUM);
135 if ((time_get_us2() - t) > AX12_TIMEOUT)
141 /* called by ax12 module when we want to switch serial line. As we
142 * work in interruption mode, this function can be called to switch
143 * back in read mode even if the bytes are not really transmitted on
144 * the line. That's why in this case we do nothing, we will fall back
145 * in read mode in any case when xmit is finished -- see in
146 * ax12_send_callback() -- */
147 static void ax12_switch_uart(uint8_t state)
151 if (state == AX12_STATE_WRITE) {
154 while (uart_recv_nowait(UART_AX12_NUM) != -1);
156 ax12_state = AX12_STATE_WRITE;
161 if (CIRBUF_IS_EMPTY(&g_tx_fifo[UART_AX12_NUM]))
162 UCSRxB &= ~(1<<TXEN);
163 ax12_state = AX12_STATE_READ;
169 void ax12_user_init(void)
175 AX12_init(&gen.ax12);
176 AX12_set_hardware_send(&gen.ax12, ax12_send_char);
177 AX12_set_hardware_recv(&gen.ax12, ax12_recv_char);
178 AX12_set_hardware_switch(&gen.ax12, ax12_switch_uart);
179 uart_register_tx_event(UART_AX12_NUM, ax12_send_callback);