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 <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         struct cmd_baudrate_result *res = parsed_result;
 186         struct uart_config c;
 187
 188         printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
 189         uart_getconf(1, &c);
 190         c.baudrate = res->arg1;
 191         uart_setconf(1, &c);
 192         printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
 193 }
 194
 195 prog_char str_baudrate_arg0[] = "baudrate";
 196 parse_pgm_token_string_t cmd_baudrate_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_baudrate_result, arg0, str_baudrate_arg0);
 197 parse_pgm_token_num_t cmd_baudrate_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_baudrate_result, arg1, UINT32);
 198
 199 prog_char help_baudrate[] = "Change ax12 baudrate";
 200 parse_pgm_inst_t cmd_baudrate = {
 201         .f = cmd_baudrate_parsed,  /* function to call */
 202         .data = NULL,      /* 2nd arg of func */
 203         .help_str = help_baudrate,
 204         .tokens = {        /* token list, NULL terminated */
 205                 (prog_void *)&cmd_baudrate_arg0,
 206                 (prog_void *)&cmd_baudrate_arg1,
 207                 NULL,
 208         },
 209 };
 210
 211 /**********************************************************/
 212 /* Uint16 */
 213
 214
 215 /* this structure is filled when cmd_uint16_read is parsed successfully */
 216 struct cmd_uint16_result {
 217         fixed_string_t arg0;
 218         fixed_string_t arg1;
 219         uint8_t num;
 220         uint16_t val;
 221 };
 222
 223 /* function called when cmd_uint16_read is parsed successfully */
 224 static void cmd_uint16_read_parsed(void * parsed_result, void * data)
 225 {
 226         struct cmd_uint16_result *res = parsed_result;
 227         uint8_t ret;
 228         uint16_t val;
 229         uint8_t addr = addr_from_string(res->arg1);
 230         ret = AX12_read_int(&gen.ax12, res->num, addr, &val);
 231         if (ret)
 232                 printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
 233         printf_P(PSTR("%s: %d [0x%.4x]\r\n"), res->arg1, val, val);
 234 }
 235
 236 prog_char str_uint16_arg0[] = "read";
 237 parse_pgm_token_string_t cmd_uint16_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg0, str_uint16_arg0);
 238 prog_char str_uint16_arg1[] = "moving_speed#model#goal_pos#cw_angle_limit#ccw_angle_limit#"
 239                 "max_torque#down_calibration#up_calibration#torque_limit#"
 240                 "position#speed#load#punch";
 241 parse_pgm_token_string_t cmd_uint16_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg1, str_uint16_arg1);
 242 parse_pgm_token_num_t cmd_uint16_num = TOKEN_NUM_INITIALIZER(struct cmd_uint16_result, num, UINT8);
 243
 244 prog_char help_uint16_read[] = "Read uint16 value (type, num)";
 245 parse_pgm_inst_t cmd_uint16_read = {
 246         .f = cmd_uint16_read_parsed,  /* function to call */
 247         .data = NULL,      /* 2nd arg of func */
 248         .help_str = help_uint16_read,
 249         .tokens = {        /* token list, NULL terminated */
 250                 (prog_void *)&cmd_uint16_arg0,
 251                 (prog_void *)&cmd_uint16_arg1,
 252                 (prog_void *)&cmd_uint16_num,
 253                 NULL,
 254         },
 255 };
 256
 257 /* function called when cmd_uint16_write is parsed successfully */
 258 static void cmd_uint16_write_parsed(void * parsed_result, void * data)
 259 {
 260         struct cmd_uint16_result *res = parsed_result;
 261         uint8_t ret;
 262         uint8_t addr = addr_from_string(res->arg1);
 263         printf_P(PSTR("writing %s: %d [0x%.4x]\r\n"), res->arg1,
 264                  res->val, res->val);
 265         ret = AX12_write_int(&gen.ax12, res->num, addr, res->val);
 266         if (ret)
 267                 printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
 268 }
 269
 270 prog_char str_uint16_arg0_w[] = "write";
 271 parse_pgm_token_string_t cmd_uint16_arg0_w = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg0, str_uint16_arg0_w);
 272 prog_char str_uint16_arg1_w[] = "moving_speed#goal_pos#cw_angle_limit#ccw_angle_limit#"
 273                 "max_torque#torque_limit#punch";
 274 parse_pgm_token_string_t cmd_uint16_arg1_w = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg1, str_uint16_arg1_w);
 275 parse_pgm_token_num_t cmd_uint16_val = TOKEN_NUM_INITIALIZER(struct cmd_uint16_result, val, UINT16);
 276
 277 prog_char help_uint16_write[] = "Write uint16 value (write, num, val)";
 278 parse_pgm_inst_t cmd_uint16_write = {
 279         .f = cmd_uint16_write_parsed,  /* function to call */
 280         .data = NULL,      /* 2nd arg of func */
 281         .help_str = help_uint16_write,
 282         .tokens = {        /* token list, NULL terminated */
 283                 (prog_void *)&cmd_uint16_arg0_w,
 284                 (prog_void *)&cmd_uint16_arg1_w,
 285                 (prog_void *)&cmd_uint16_num,
 286                 (prog_void *)&cmd_uint16_val,
 287                 NULL,
 288         },
 289 };
 290
 291 /**********************************************************/
 292 /* Uint8 */
 293
 294
 295 /* this structure is filled when cmd_uint8_read is parsed successfully */
 296 struct cmd_uint8_result {
 297         fixed_string_t arg0;
 298         fixed_string_t arg1;
 299         uint8_t num;
 300         uint8_t val;
 301 };
 302
 303 /* function called when cmd_uint8_read is parsed successfully */
 304 static void cmd_uint8_read_parsed(void * parsed_result, void * data)
 305 {
 306         struct cmd_uint8_result *res = parsed_result;
 307         uint8_t ret;
 308         uint8_t val;
 309         uint8_t addr = addr_from_string(res->arg1);
 310
 311         ret = AX12_read_byte(&gen.ax12, res->num, addr, &val);
 312         if (ret)
 313                 printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
 314         printf_P(PSTR("%s: %d [0x%.2x]\r\n"), res->arg1, val, val);
 315 }
 316
 317 prog_char str_uint8_arg0[] = "read";
 318 parse_pgm_token_string_t cmd_uint8_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg0, str_uint8_arg0);
 319 prog_char str_uint8_arg1[] = "id#firmware#baudrate#delay#high_lim_temp#"
 320                 "low_lim_volt#high_lim_volt#status_return#alarm_led#"
 321                 "alarm_shutdown#torque_enable#led#cw_comp_margin#"
 322                 "ccw_comp_margin#cw_comp_slope#ccw_comp_slope#"
 323                 "voltage#temp#reginst#moving#lock";
 324 parse_pgm_token_string_t cmd_uint8_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg1, str_uint8_arg1);
 325 parse_pgm_token_num_t cmd_uint8_num = TOKEN_NUM_INITIALIZER(struct cmd_uint8_result, num, UINT8);
 326
 327 prog_char help_uint8_read[] = "Read uint8 value (type, num)";
 328 parse_pgm_inst_t cmd_uint8_read = {
 329         .f = cmd_uint8_read_parsed,  /* function to call */
 330         .data = NULL,      /* 2nd arg of func */
 331         .help_str = help_uint8_read,
 332         .tokens = {        /* token list, NULL terminated */
 333                 (prog_void *)&cmd_uint8_arg0,
 334                 (prog_void *)&cmd_uint8_arg1,
 335                 (prog_void *)&cmd_uint8_num,
 336                 NULL,
 337         },
 338 };
 339
 340 /* function called when cmd_uint8_write is parsed successfully */
 341 static void cmd_uint8_write_parsed(void * parsed_result, void * data)
 342 {
 343         struct cmd_uint8_result *res = parsed_result;
 344         uint8_t addr = addr_from_string(res->arg1);
 345         uint8_t ret;
 346         printf_P(PSTR("writing %s: %d [0x%.2x]\r\n"), res->arg1,
 347                  res->val, res->val);
 348         ret = AX12_write_byte(&gen.ax12, res->num, addr, res->val);
 349         if (ret)
 350                 printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
 351 }
 352
 353 prog_char str_uint8_arg0_w[] = "write";
 354 parse_pgm_token_string_t cmd_uint8_arg0_w = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg0, str_uint8_arg0_w);
 355 prog_char str_uint8_arg1_w[] = "id#baudrate#delay#high_lim_temp#"
 356                 "low_lim_volt#high_lim_volt#status_return#alarm_led#"
 357                 "alarm_shutdown#torque_enable#led#cw_comp_margin#"
 358                 "ccw_comp_margin#cw_comp_slope#ccw_comp_slope#"
 359                 "reginst#lock";
 360 parse_pgm_token_string_t cmd_uint8_arg1_w = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg1, str_uint8_arg1_w);
 361 parse_pgm_token_num_t cmd_uint8_val = TOKEN_NUM_INITIALIZER(struct cmd_uint8_result, val, UINT8);
 362
 363 prog_char help_uint8_write[] = "Write uint8 value (write, num, val)";
 364 parse_pgm_inst_t cmd_uint8_write = {
 365         .f = cmd_uint8_write_parsed,  /* function to call */
 366         .data = NULL,      /* 2nd arg of func */
 367         .help_str = help_uint8_write,
 368         .tokens = {        /* token list, NULL terminated */
 369                 (prog_void *)&cmd_uint8_arg0_w,
 370                 (prog_void *)&cmd_uint8_arg1_w,
 371                 (prog_void *)&cmd_uint8_num,
 372                 (prog_void *)&cmd_uint8_val,
 373                 NULL,
 374         },
 375 };