+/*
+ * Copyright Droids Corporation
+ * Olivier Matz <zer0@droids-corp.org>
+ *
+ * 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.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/list.h>
+#include <aversive/error.h>
+
+#include <i2c.h>
+#include <ax12.h>
+#include <uart.h>
+#include <pwm_ng.h>
+#include <time.h>
+#include <spi.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <polygon.h>
+#include <obstacle_avoidance.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <rdline.h>
+#include <parse.h>
+#include <parse_string.h>
+#include <parse_num.h>
+
+#include "main.h"
+
+/*
+ * Cmdline interface for AX12. Use the PC to command a daisy-chain of
+ * AX12 actuators with a nice command line interface.
+ *
+ * The circuit should be as following:
+ *
+ * |----------|
+ * | uart3|------->--- PC (baudrate=57600)
+ * | |-------<---
+ * | atmega128|
+ * | |
+ * | uart0|---->---+-- AX12 (baudrate 115200)
+ * | |----<---|
+ * |----------|
+ *
+ * Note that RX and TX pins of UART1 are connected together to provide
+ * a half-duplex UART emulation.
+ *
+ */
+
+#define UART_AX12_NUM 0
+#define UCSRxB UCSR0B
+#define AX12_TIMEOUT 5000UL /* in us */
+
+/********************************* AX12 commands */
+
+/*
+ * We use synchronous access (not interrupt driven) to the hardware
+ * UART, because we have to be sure that the transmission/reception is
+ * really finished when we return from the functions.
+ *
+ * We don't use the CM-5 circuit as described in the AX12
+ * documentation, we simply connect TX and RX and use TXEN + RXEN +
+ * DDR to manage the port directions.
+ */
+
+static volatile uint8_t ax12_state = AX12_STATE_READ;
+extern volatile struct cirbuf g_tx_fifo[]; /* uart fifo */
+static volatile uint8_t ax12_nsent = 0;
+
+/* Called by ax12 module to send a character on serial line. Count the
+ * number of transmitted bytes. It will be used in ax12_recv_char() to
+ * drop the bytes that we transmitted. */
+static int8_t ax12_send_char(uint8_t c)
+{
+ uart_send(UART_AX12_NUM, c);
+ ax12_nsent++;
+ return 0;
+}
+
+/* for atmega256 */
+#ifndef TXEN
+#define TXEN TXEN0
+#endif
+
+/* called by uart module when the character has been written in
+ * UDR. It does not mean that the byte is physically transmitted. */
+static void ax12_send_callback(char c)
+{
+ if (ax12_state == AX12_STATE_READ) {
+ /* disable TX when last byte is pushed. */
+ if (CIRBUF_IS_EMPTY(&g_tx_fifo[UART_AX12_NUM]))
+ UCSRxB &= ~(1<<TXEN);
+ }
+}
+
+/* Called by ax12 module when we want to receive a char. Note that we
+ * also receive the bytes we sent ! So we need to drop them. */
+static int16_t ax12_recv_char(void)
+{
+ microseconds t = time_get_us2();
+ int c;
+ while (1) {
+ c = uart_recv_nowait(UART_AX12_NUM);
+ if (c != -1) {
+ if (ax12_nsent == 0)
+ return c;
+ ax12_nsent --;
+ }
+
+ /* 5 ms timeout */
+ if ((time_get_us2() - t) > AX12_TIMEOUT)
+ return -1;
+ }
+ return c;
+}
+
+/* called by ax12 module when we want to switch serial line. As we
+ * work in interruption mode, this function can be called to switch
+ * back in read mode even if the bytes are not really transmitted on
+ * the line. That's why in this case we do nothing, we will fall back
+ * in read mode in any case when xmit is finished -- see in
+ * ax12_send_callback() -- */
+static void ax12_switch_uart(uint8_t state)
+{
+ uint8_t flags;
+
+ if (state == AX12_STATE_WRITE) {
+ IRQ_LOCK(flags);
+ ax12_nsent=0;
+ while (uart_recv_nowait(UART_AX12_NUM) != -1);
+ UCSRxB |= (1<<TXEN);
+ ax12_state = AX12_STATE_WRITE;
+ IRQ_UNLOCK(flags);
+ }
+ else {
+ IRQ_LOCK(flags);
+ if (CIRBUF_IS_EMPTY(&g_tx_fifo[UART_AX12_NUM]))
+ UCSRxB &= ~(1<<TXEN);
+ ax12_state = AX12_STATE_READ;
+ IRQ_UNLOCK(flags);
+ }
+}
+
+
+void ax12_user_init(void)
+{
+ /* AX12 */
+ AX12_init(&gen.ax12);
+ AX12_set_hardware_send(&gen.ax12, ax12_send_char);
+ AX12_set_hardware_recv(&gen.ax12, ax12_recv_char);
+ AX12_set_hardware_switch(&gen.ax12, ax12_switch_uart);
+ uart_register_tx_event(UART_AX12_NUM, ax12_send_callback);
+}
git.droids-corp.org / aversive.git / blobdiff