projects/microb2010/mainboard/commands_ax12.c

   1 /*
   2  *  Copyright Droids Corporation (2009)
   3  *
   4  *  This program is free software; you can redistribute it and/or modify
   5  *  it under the terms of the GNU General Public License as published by
   6  *  the Free Software Foundation; either version 2 of the License, or
   7  *  (at your option) any later version.
   8  *
   9  *  This program is distributed in the hope that it will be useful,
  10  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  *  GNU General Public License for more details.
  13  *
  14  *  You should have received a copy of the GNU General Public License
  15  *  along with this program; if not, write to the Free Software
  16  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  17  *
  18  *  Revision : $Id: commands_ax12.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
  19  *
  20  *  Olivier MATZ <zer0@droids-corp.org>
  21  */
  22
  23 #include <stdio.h>
  24 #include <string.h>
  25
  26 #include <aversive/pgmspace.h>
  27 #include <aversive/wait.h>
  28 #include <aversive/error.h>
  29
  30 #include <ax12.h>
  31 #include <uart.h>
  32 #include <pwm_ng.h>
  33 #include <clock_time.h>
  34
  35 #include <pid.h>
  36 #include <quadramp.h>
  37 #include <control_system_manager.h>
  38 #include <trajectory_manager.h>
  39 #include <vect_base.h>
  40 #include <lines.h>
  41 #include <polygon.h>
  42 #include <obstacle_avoidance.h>
  43 #include <blocking_detection_manager.h>
  44 #include <robot_system.h>
  45 #include <position_manager.h>
  46
  47 #include <rdline.h>
  48 #include <parse.h>
  49 #include <parse_string.h>
  50 #include <parse_num.h>
  51
  52 #include "main.h"
  53
  54 uint8_t addr_from_string(const char *s)
  55 {
  56         /* 16 bits */
  57         if (!strcmp_P(s, PSTR("cw_angle_limit")))
  58                 return AA_CW_ANGLE_LIMIT_L;
  59         if (!strcmp_P(s, PSTR("ccw_angle_limit")))
  60                 return AA_CCW_ANGLE_LIMIT_L;
  61         if (!strcmp_P(s, PSTR("max_torque")))
  62                 return AA_MAX_TORQUE_L;
  63         if (!strcmp_P(s, PSTR("down_calibration")))
  64                 return AA_DOWN_CALIBRATION_L;
  65         if (!strcmp_P(s, PSTR("up_calibration")))
  66                 return AA_UP_CALIBRATION_L;
  67         if (!strcmp_P(s, PSTR("torque_limit")))
  68                 return AA_TORQUE_LIMIT_L;
  69         if (!strcmp_P(s, PSTR("position")))
  70                 return AA_PRESENT_POSITION_L;
  71         if (!strcmp_P(s, PSTR("speed")))
  72                 return AA_PRESENT_SPEED_L;
  73         if (!strcmp_P(s, PSTR("load")))
  74                 return AA_PRESENT_LOAD_L;
  75         if (!strcmp_P(s, PSTR("moving_speed")))
  76                 return AA_MOVING_SPEED_L;
  77         if (!strcmp_P(s, PSTR("model")))
  78                 return AA_MODEL_NUMBER_L;
  79         if (!strcmp_P(s, PSTR("goal_pos")))
  80                 return AA_GOAL_POSITION_L;
  81         if (!strcmp_P(s, PSTR("punch")))
  82                 return AA_PUNCH_L;
  83
  84         /* 8 bits */
  85         if (!strcmp_P(s, PSTR("firmware")))
  86                 return AA_FIRMWARE;
  87         if (!strcmp_P(s, PSTR("id")))
  88                 return AA_ID;
  89         if (!strcmp_P(s, PSTR("baudrate")))
  90                 return AA_BAUD_RATE;
  91         if (!strcmp_P(s, PSTR("delay")))
  92                 return AA_DELAY_TIME;
  93         if (!strcmp_P(s, PSTR("high_lim_temp")))
  94                 return AA_HIGHEST_LIMIT_TEMP;
  95         if (!strcmp_P(s, PSTR("low_lim_volt")))
  96                 return AA_LOWEST_LIMIT_VOLTAGE;
  97         if (!strcmp_P(s, PSTR("high_lim_volt")))
  98                 return AA_HIGHEST_LIMIT_VOLTAGE;
  99         if (!strcmp_P(s, PSTR("status_return")))
 100                 return AA_STATUS_RETURN_LEVEL;
 101         if (!strcmp_P(s, PSTR("alarm_led")))
 102                 return AA_ALARM_LED;
 103         if (!strcmp_P(s, PSTR("alarm_shutdown")))
 104                 return AA_ALARM_SHUTDOWN;
 105         if (!strcmp_P(s, PSTR("torque_enable")))
 106                 return AA_TORQUE_ENABLE;
 107         if (!strcmp_P(s, PSTR("led")))
 108                 return AA_LED;
 109         if (!strcmp_P(s, PSTR("cw_comp_margin")))
 110                 return AA_CW_COMPLIANCE_MARGIN;
 111         if (!strcmp_P(s, PSTR("ccw_comp_margin")))
 112                 return AA_CCW_COMPLIANCE_MARGIN;
 113         if (!strcmp_P(s, PSTR("cw_comp_slope")))
 114                 return AA_CW_COMPLIANCE_SLOPE;
 115         if (!strcmp_P(s, PSTR("ccw_comp_slope")))
 116                 return AA_CCW_COMPLIANCE_SLOPE;
 117         if (!strcmp_P(s, PSTR("voltage")))
 118                 return AA_PRESENT_VOLTAGE;
 119         if (!strcmp_P(s, PSTR("temp")))
 120                 return AA_PRESENT_TEMP;
 121         if (!strcmp_P(s, PSTR("reginst")))
 122                 return AA_PRESENT_REGINST;
 123         if (!strcmp_P(s, PSTR("moving")))
 124                 return AA_MOVING;
 125         if (!strcmp_P(s, PSTR("lock")))
 126                 return AA_LOCK;
 127
 128         return 0;
 129 }
 130
 131 /**********************************************************/
 132 /* Ax12_Stress */
 133
 134 /* this structure is filled when cmd_ax12_stress is parsed successfully */
 135 struct cmd_ax12_stress_result {
 136         fixed_string_t arg0;
 137         uint8_t id;
 138 };
 139
 140 /* function called when cmd_ax12_stress is parsed successfully */
 141 static void cmd_ax12_stress_parsed(void *parsed_result, void *data)
 142 {
 143         struct cmd_ax12_stress_result *res = parsed_result;
 144         int i, nb_errs = 0;
 145         uint8_t val;
 146         microseconds t = time_get_us2();
 147
 148         for (i=0; i<1000; i++) {
 149                 if (AX12_read_byte(&gen.ax12, res->id, AA_ID, &val) != 0)
 150                         nb_errs ++;
 151         }
 152
 153         printf_P(PSTR("%d errors / 1000\r\n"), nb_errs);
 154         t = (time_get_us2() - t) / 1000;
 155         printf_P(PSTR("Test done in %d ms\r\n"), (int)t);
 156 }
 157
 158 prog_char str_ax12_stress_arg0[] = "ax12_stress";
 159 parse_pgm_token_string_t cmd_ax12_stress_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ax12_stress_result, arg0, str_ax12_stress_arg0);
 160 parse_pgm_token_num_t cmd_ax12_stress_id = TOKEN_NUM_INITIALIZER(struct cmd_ax12_stress_result, id, UINT8);
 161
 162 prog_char help_ax12_stress[] = "Stress an AX12 with 1000 'read id' commands";
 163 parse_pgm_inst_t cmd_ax12_stress = {
 164         .f = cmd_ax12_stress_parsed,  /* function to call */
 165         .data = NULL,      /* 2nd arg of func */
 166         .help_str = help_ax12_stress,
 167         .tokens = {        /* token list, NULL terminated */
 168                 (prog_void *)&cmd_ax12_stress_arg0,
 169                 (prog_void *)&cmd_ax12_stress_id,
 170                 NULL,
 171         },
 172 };
 173
 174 /**********************************************************/
 175
 176 /* this structure is filled when cmd_baudrate is parsed successfully */
 177 struct cmd_baudrate_result {
 178         fixed_string_t arg0;
 179         uint32_t arg1;
 180 };
 181
 182 /* function called when cmd_baudrate is parsed successfully */
 183 static void cmd_baudrate_parsed(void * parsed_result, void * data)
 184 {
 185 #ifdef HOST_VERSION
 186         printf("not implemented\n");
 187 #else
 188         struct cmd_baudrate_result *res = parsed_result;
 189         struct uart_config c;
 190
 191         printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
 192         uart_getconf(1, &c);
 193         c.baudrate = res->arg1;
 194         uart_setconf(1, &c);
 195         printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
 196 #endif
 197 }
 198
 199 prog_char str_baudrate_arg0[] = "baudrate";
 200 parse_pgm_token_string_t cmd_baudrate_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_baudrate_result, arg0, str_baudrate_arg0);
 201 parse_pgm_token_num_t cmd_baudrate_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_baudrate_result, arg1, UINT32);
 202
 203 prog_char help_baudrate[] = "Change ax12 baudrate";
 204 parse_pgm_inst_t cmd_baudrate = {
 205         .f = cmd_baudrate_parsed,  /* function to call */
 206         .data = NULL,      /* 2nd arg of func */
 207         .help_str = help_baudrate,
 208         .tokens = {        /* token list, NULL terminated */
 209                 (prog_void *)&cmd_baudrate_arg0,
 210                 (prog_void *)&cmd_baudrate_arg1,
 211                 NULL,
 212         },
 213 };
 214
 215 /**********************************************************/
 216 /* Uint16 */
 217
 218
 219 /* this structure is filled when cmd_uint16_read is parsed successfully */
 220 struct cmd_uint16_result {
 221         fixed_string_t arg0;
 222         fixed_string_t arg1;
 223         uint8_t num;
 224         uint16_t val;
 225 };
 226
 227 /* function called when cmd_uint16_read is parsed successfully */
 228 static void cmd_uint16_read_parsed(void * parsed_result, void * data)
 229 {
 230         struct cmd_uint16_result *res = parsed_result;
 231         uint8_t ret;
 232         uint16_t val;
 233         uint8_t addr = addr_from_string(res->arg1);
 234         ret = AX12_read_int(&gen.ax12, res->num, addr, &val);
 235         if (ret)
 236                 printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
 237         printf_P(PSTR("%s: %d [0x%.4x]\r\n"), res->arg1, val, val);
 238 }
 239
 240 prog_char str_uint16_arg0[] = "read";
 241 parse_pgm_token_string_t cmd_uint16_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg0, str_uint16_arg0);
 242 prog_char str_uint16_arg1[] = "moving_speed#model#goal_pos#cw_angle_limit#ccw_angle_limit#"
 243                 "max_torque#down_calibration#up_calibration#torque_limit#"
 244                 "position#speed#load#punch";
 245 parse_pgm_token_string_t cmd_uint16_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg1, str_uint16_arg1);
 246 parse_pgm_token_num_t cmd_uint16_num = TOKEN_NUM_INITIALIZER(struct cmd_uint16_result, num, UINT8);
 247
 248 prog_char help_uint16_read[] = "Read uint16 value (type, num)";
 249 parse_pgm_inst_t cmd_uint16_read = {
 250         .f = cmd_uint16_read_parsed,  /* function to call */
 251         .data = NULL,      /* 2nd arg of func */
 252         .help_str = help_uint16_read,
 253         .tokens = {        /* token list, NULL terminated */
 254                 (prog_void *)&cmd_uint16_arg0,
 255                 (prog_void *)&cmd_uint16_arg1,
 256                 (prog_void *)&cmd_uint16_num,
 257                 NULL,
 258         },
 259 };
 260
 261 /* function called when cmd_uint16_write is parsed successfully */
 262 static void cmd_uint16_write_parsed(void * parsed_result, void * data)
 263 {
 264         struct cmd_uint16_result *res = parsed_result;
 265         uint8_t ret;
 266         uint8_t addr = addr_from_string(res->arg1);
 267         printf_P(PSTR("writing %s: %d [0x%.4x]\r\n"), res->arg1,
 268                  res->val, res->val);
 269         ret = AX12_write_int(&gen.ax12, res->num, addr, res->val);
 270         if (ret)
 271                 printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
 272 }
 273
 274 prog_char str_uint16_arg0_w[] = "write";
 275 parse_pgm_token_string_t cmd_uint16_arg0_w = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg0, str_uint16_arg0_w);
 276 prog_char str_uint16_arg1_w[] = "moving_speed#goal_pos#cw_angle_limit#ccw_angle_limit#"
 277                 "max_torque#torque_limit#punch";
 278 parse_pgm_token_string_t cmd_uint16_arg1_w = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg1, str_uint16_arg1_w);
 279 parse_pgm_token_num_t cmd_uint16_val = TOKEN_NUM_INITIALIZER(struct cmd_uint16_result, val, UINT16);
 280
 281 prog_char help_uint16_write[] = "Write uint16 value (write, num, val)";
 282 parse_pgm_inst_t cmd_uint16_write = {
 283         .f = cmd_uint16_write_parsed,  /* function to call */
 284         .data = NULL,      /* 2nd arg of func */
 285         .help_str = help_uint16_write,
 286         .tokens = {        /* token list, NULL terminated */
 287                 (prog_void *)&cmd_uint16_arg0_w,
 288                 (prog_void *)&cmd_uint16_arg1_w,
 289                 (prog_void *)&cmd_uint16_num,
 290                 (prog_void *)&cmd_uint16_val,
 291                 NULL,
 292         },
 293 };
 294
 295 /**********************************************************/
 296 /* Uint8 */
 297
 298
 299 /* this structure is filled when cmd_uint8_read is parsed successfully */
 300 struct cmd_uint8_result {
 301         fixed_string_t arg0;
 302         fixed_string_t arg1;
 303         uint8_t num;
 304         uint8_t val;
 305 };
 306
 307 /* function called when cmd_uint8_read is parsed successfully */
 308 static void cmd_uint8_read_parsed(void * parsed_result, void * data)
 309 {
 310         struct cmd_uint8_result *res = parsed_result;
 311         uint8_t ret;
 312         uint8_t val;
 313         uint8_t addr = addr_from_string(res->arg1);
 314
 315         ret = AX12_read_byte(&gen.ax12, res->num, addr, &val);
 316         if (ret)
 317                 printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
 318         printf_P(PSTR("%s: %d [0x%.2x]\r\n"), res->arg1, val, val);
 319 }
 320
 321 prog_char str_uint8_arg0[] = "read";
 322 parse_pgm_token_string_t cmd_uint8_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg0, str_uint8_arg0);
 323 prog_char str_uint8_arg1[] = "id#firmware#baudrate#delay#high_lim_temp#"
 324                 "low_lim_volt#high_lim_volt#status_return#alarm_led#"
 325                 "alarm_shutdown#torque_enable#led#cw_comp_margin#"
 326                 "ccw_comp_margin#cw_comp_slope#ccw_comp_slope#"
 327                 "voltage#temp#reginst#moving#lock";
 328 parse_pgm_token_string_t cmd_uint8_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg1, str_uint8_arg1);
 329 parse_pgm_token_num_t cmd_uint8_num = TOKEN_NUM_INITIALIZER(struct cmd_uint8_result, num, UINT8);
 330
 331 prog_char help_uint8_read[] = "Read uint8 value (type, num)";
 332 parse_pgm_inst_t cmd_uint8_read = {
 333         .f = cmd_uint8_read_parsed,  /* function to call */
 334         .data = NULL,      /* 2nd arg of func */
 335         .help_str = help_uint8_read,
 336         .tokens = {        /* token list, NULL terminated */
 337                 (prog_void *)&cmd_uint8_arg0,
 338                 (prog_void *)&cmd_uint8_arg1,
 339                 (prog_void *)&cmd_uint8_num,
 340                 NULL,
 341         },
 342 };
 343
 344 /* function called when cmd_uint8_write is parsed successfully */
 345 static void cmd_uint8_write_parsed(void * parsed_result, void * data)
 346 {
 347         struct cmd_uint8_result *res = parsed_result;
 348         uint8_t addr = addr_from_string(res->arg1);
 349         uint8_t ret;
 350         printf_P(PSTR("writing %s: %d [0x%.2x]\r\n"), res->arg1,
 351                  res->val, res->val);
 352         ret = AX12_write_byte(&gen.ax12, res->num, addr, res->val);
 353         if (ret)
 354                 printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
 355 }
 356
 357 prog_char str_uint8_arg0_w[] = "write";
 358 parse_pgm_token_string_t cmd_uint8_arg0_w = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg0, str_uint8_arg0_w);
 359 prog_char str_uint8_arg1_w[] = "id#baudrate#delay#high_lim_temp#"
 360                 "low_lim_volt#high_lim_volt#status_return#alarm_led#"
 361                 "alarm_shutdown#torque_enable#led#cw_comp_margin#"
 362                 "ccw_comp_margin#cw_comp_slope#ccw_comp_slope#"
 363                 "reginst#lock";
 364 parse_pgm_token_string_t cmd_uint8_arg1_w = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg1, str_uint8_arg1_w);
 365 parse_pgm_token_num_t cmd_uint8_val = TOKEN_NUM_INITIALIZER(struct cmd_uint8_result, val, UINT8);
 366
 367 prog_char help_uint8_write[] = "Write uint8 value (write, num, val)";
 368 parse_pgm_inst_t cmd_uint8_write = {
 369         .f = cmd_uint8_write_parsed,  /* function to call */
 370         .data = NULL,      /* 2nd arg of func */
 371         .help_str = help_uint8_write,
 372         .tokens = {        /* token list, NULL terminated */
 373                 (prog_void *)&cmd_uint8_arg0_w,
 374                 (prog_void *)&cmd_uint8_arg1_w,
 375                 (prog_void *)&cmd_uint8_num,
 376                 (prog_void *)&cmd_uint8_val,
 377                 NULL,
 378         },
 379 };