/* * Copyright Droids Corporation * Olivier Matz * * This program 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 2 of the License, or * (at your option) any later version. * * This program 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 this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * * Revision : $Id: ax12_user.h,v 1.3 2009-04-07 20:03:48 zer0 Exp $ * */ /* This is the ax12 user interface. It initializes the aversive AX12 * module so that it works in background, using interrupt driver uart. * * Be carreful, a call to AX12 module is synchronous and uses * interruptions, so interrupts must be enabled. On the other side, a * call _must not_ interrupt another one. That's why all calls to the * module are done either in init() functions or in a scheduler event * with prio=ARM_PRIO. */ /* XXX do a safe_ax12() function that will retry once or twice if we * see some problems. */ #define UART_AX12_NUM 0 void ax12_user_init(void); void ax12_dump_stats(void); #define ax12_user_write_byte(ax12, id, addr, data) \ __ax12_user_write_byte(ax12, id, addr, data, __LINE__) #define ax12_user_write_int(ax12, id, addr, data) \ __ax12_user_write_int(ax12, id, addr, data, __LINE__) #define ax12_user_read_byte(ax12, id, addr, data) \ __ax12_user_read_byte(ax12, id, addr, data, __LINE__) #define ax12_user_read_int(ax12, id, addr, data) \ __ax12_user_read_int(ax12, id, addr, data, __LINE__) /** @brief Write byte in AX-12 memory * @return Error code from AX-12 (0 means okay) */ uint8_t __ax12_user_write_byte(AX12 *ax12, uint8_t id, AX12_ADDRESS address, uint8_t data, uint16_t line); /** @brief Write integer (2 bytes) in AX-12 memory * @return Error code from AX-12 (0 means okay) * * address : data low * address+1 : data high */ uint8_t __ax12_user_write_int(AX12 *ax12, uint8_t id, AX12_ADDRESS address, uint16_t data, uint16_t line); /** @brief Read byte from AX-12 memory * @return Error code from AX-12 (0 means okay) */ uint8_t __ax12_user_read_byte(AX12 *ax12, uint8_t id, AX12_ADDRESS address, uint8_t *val, uint16_t line); /** @brief Write integer (2 bytes) from AX-12 memory * @return Error code from AX-12 (0 means okay) */ uint8_t __ax12_user_read_int(AX12 *ax12, uint8_t id, AX12_ADDRESS address, uint16_t *val, uint16_t line);