--- /dev/null
+/*
+ * Copyright Droids Corporation (2009)
+ *
+ * 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: commands_ax12.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
+ *
+ * Olivier MATZ <zer0@droids-corp.org>
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <pwm_ng.h>
+#include <time.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"
+
+uint8_t addr_from_string(const char *s)
+{
+ /* 16 bits */
+ if (!strcmp_P(s, PSTR("cw_angle_limit")))
+ return AA_CW_ANGLE_LIMIT_L;
+ if (!strcmp_P(s, PSTR("ccw_angle_limit")))
+ return AA_CCW_ANGLE_LIMIT_L;
+ if (!strcmp_P(s, PSTR("max_torque")))
+ return AA_MAX_TORQUE_L;
+ if (!strcmp_P(s, PSTR("down_calibration")))
+ return AA_DOWN_CALIBRATION_L;
+ if (!strcmp_P(s, PSTR("up_calibration")))
+ return AA_UP_CALIBRATION_L;
+ if (!strcmp_P(s, PSTR("torque_limit")))
+ return AA_TORQUE_LIMIT_L;
+ if (!strcmp_P(s, PSTR("position")))
+ return AA_PRESENT_POSITION_L;
+ if (!strcmp_P(s, PSTR("speed")))
+ return AA_PRESENT_SPEED_L;
+ if (!strcmp_P(s, PSTR("load")))
+ return AA_PRESENT_LOAD_L;
+ if (!strcmp_P(s, PSTR("moving_speed")))
+ return AA_MOVING_SPEED_L;
+ if (!strcmp_P(s, PSTR("model")))
+ return AA_MODEL_NUMBER_L;
+ if (!strcmp_P(s, PSTR("goal_pos")))
+ return AA_GOAL_POSITION_L;
+ if (!strcmp_P(s, PSTR("punch")))
+ return AA_PUNCH_L;
+
+ /* 8 bits */
+ if (!strcmp_P(s, PSTR("firmware")))
+ return AA_FIRMWARE;
+ if (!strcmp_P(s, PSTR("id")))
+ return AA_ID;
+ if (!strcmp_P(s, PSTR("baudrate")))
+ return AA_BAUD_RATE;
+ if (!strcmp_P(s, PSTR("delay")))
+ return AA_DELAY_TIME;
+ if (!strcmp_P(s, PSTR("high_lim_temp")))
+ return AA_HIGHEST_LIMIT_TEMP;
+ if (!strcmp_P(s, PSTR("low_lim_volt")))
+ return AA_LOWEST_LIMIT_VOLTAGE;
+ if (!strcmp_P(s, PSTR("high_lim_volt")))
+ return AA_HIGHEST_LIMIT_VOLTAGE;
+ if (!strcmp_P(s, PSTR("status_return")))
+ return AA_STATUS_RETURN_LEVEL;
+ if (!strcmp_P(s, PSTR("alarm_led")))
+ return AA_ALARM_LED;
+ if (!strcmp_P(s, PSTR("alarm_shutdown")))
+ return AA_ALARM_SHUTDOWN;
+ if (!strcmp_P(s, PSTR("torque_enable")))
+ return AA_TORQUE_ENABLE;
+ if (!strcmp_P(s, PSTR("led")))
+ return AA_LED;
+ if (!strcmp_P(s, PSTR("cw_comp_margin")))
+ return AA_CW_COMPLIANCE_MARGIN;
+ if (!strcmp_P(s, PSTR("ccw_comp_margin")))
+ return AA_CCW_COMPLIANCE_MARGIN;
+ if (!strcmp_P(s, PSTR("cw_comp_slope")))
+ return AA_CW_COMPLIANCE_SLOPE;
+ if (!strcmp_P(s, PSTR("ccw_comp_slope")))
+ return AA_CCW_COMPLIANCE_SLOPE;
+ if (!strcmp_P(s, PSTR("voltage")))
+ return AA_PRESENT_VOLTAGE;
+ if (!strcmp_P(s, PSTR("temp")))
+ return AA_PRESENT_TEMP;
+ if (!strcmp_P(s, PSTR("reginst")))
+ return AA_PRESENT_REGINST;
+ if (!strcmp_P(s, PSTR("moving")))
+ return AA_MOVING;
+ if (!strcmp_P(s, PSTR("lock")))
+ return AA_LOCK;
+
+ return 0;
+}
+
+/**********************************************************/
+/* Ax12_Stress */
+
+/* this structure is filled when cmd_ax12_stress is parsed successfully */
+struct cmd_ax12_stress_result {
+ fixed_string_t arg0;
+ uint8_t id;
+};
+
+/* function called when cmd_ax12_stress is parsed successfully */
+static void cmd_ax12_stress_parsed(void *parsed_result, void *data)
+{
+ struct cmd_ax12_stress_result *res = parsed_result;
+ int i, nb_errs = 0;
+ uint8_t val;
+ microseconds t = time_get_us2();
+
+ for (i=0; i<1000; i++) {
+ if (AX12_read_byte(&gen.ax12, res->id, AA_ID, &val) != 0)
+ nb_errs ++;
+ }
+
+ printf_P(PSTR("%d errors / 1000\r\n"), nb_errs);
+ t = (time_get_us2() - t) / 1000;
+ printf_P(PSTR("Test done in %d ms\r\n"), (int)t);
+}
+
+prog_char str_ax12_stress_arg0[] = "ax12_stress";
+parse_pgm_token_string_t cmd_ax12_stress_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ax12_stress_result, arg0, str_ax12_stress_arg0);
+parse_pgm_token_num_t cmd_ax12_stress_id = TOKEN_NUM_INITIALIZER(struct cmd_ax12_stress_result, id, UINT8);
+
+prog_char help_ax12_stress[] = "Stress an AX12 with 1000 'read id' commands";
+parse_pgm_inst_t cmd_ax12_stress = {
+ .f = cmd_ax12_stress_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_ax12_stress,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_ax12_stress_arg0,
+ (prog_void *)&cmd_ax12_stress_id,
+ NULL,
+ },
+};
+
+/**********************************************************/
+
+/* this structure is filled when cmd_baudrate is parsed successfully */
+struct cmd_baudrate_result {
+ fixed_string_t arg0;
+ uint32_t arg1;
+};
+
+/* function called when cmd_baudrate is parsed successfully */
+static void cmd_baudrate_parsed(void * parsed_result, void * data)
+{
+ struct cmd_baudrate_result *res = parsed_result;
+ struct uart_config c;
+
+ printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
+ uart_getconf(1, &c);
+ c.baudrate = res->arg1;
+ uart_setconf(1, &c);
+ printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
+}
+
+prog_char str_baudrate_arg0[] = "baudrate";
+parse_pgm_token_string_t cmd_baudrate_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_baudrate_result, arg0, str_baudrate_arg0);
+parse_pgm_token_num_t cmd_baudrate_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_baudrate_result, arg1, UINT32);
+
+prog_char help_baudrate[] = "Change ax12 baudrate";
+parse_pgm_inst_t cmd_baudrate = {
+ .f = cmd_baudrate_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_baudrate,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_baudrate_arg0,
+ (prog_void *)&cmd_baudrate_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Uint16 */
+
+
+/* this structure is filled when cmd_uint16_read is parsed successfully */
+struct cmd_uint16_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t num;
+ uint16_t val;
+};
+
+/* function called when cmd_uint16_read is parsed successfully */
+static void cmd_uint16_read_parsed(void * parsed_result, void * data)
+{
+ struct cmd_uint16_result *res = parsed_result;
+ uint8_t ret;
+ uint16_t val;
+ uint8_t addr = addr_from_string(res->arg1);
+ ret = AX12_read_int(&gen.ax12, res->num, addr, &val);
+ if (ret)
+ printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+ printf_P(PSTR("%s: %d [0x%.4x]\r\n"), res->arg1, val, val);
+}
+
+prog_char str_uint16_arg0[] = "read";
+parse_pgm_token_string_t cmd_uint16_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg0, str_uint16_arg0);
+prog_char str_uint16_arg1[] = "moving_speed#model#goal_pos#cw_angle_limit#ccw_angle_limit#"
+ "max_torque#down_calibration#up_calibration#torque_limit#"
+ "position#speed#load#punch";
+parse_pgm_token_string_t cmd_uint16_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg1, str_uint16_arg1);
+parse_pgm_token_num_t cmd_uint16_num = TOKEN_NUM_INITIALIZER(struct cmd_uint16_result, num, UINT8);
+
+prog_char help_uint16_read[] = "Read uint16 value (type, num)";
+parse_pgm_inst_t cmd_uint16_read = {
+ .f = cmd_uint16_read_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_uint16_read,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_uint16_arg0,
+ (prog_void *)&cmd_uint16_arg1,
+ (prog_void *)&cmd_uint16_num,
+ NULL,
+ },
+};
+
+/* function called when cmd_uint16_write is parsed successfully */
+static void cmd_uint16_write_parsed(void * parsed_result, void * data)
+{
+ struct cmd_uint16_result *res = parsed_result;
+ uint8_t ret;
+ uint8_t addr = addr_from_string(res->arg1);
+ printf_P(PSTR("writing %s: %d [0x%.4x]\r\n"), res->arg1,
+ res->val, res->val);
+ ret = AX12_write_int(&gen.ax12, res->num, addr, res->val);
+ if (ret)
+ printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+}
+
+prog_char str_uint16_arg0_w[] = "write";
+parse_pgm_token_string_t cmd_uint16_arg0_w = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg0, str_uint16_arg0_w);
+prog_char str_uint16_arg1_w[] = "moving_speed#goal_pos#cw_angle_limit#ccw_angle_limit#"
+ "max_torque#torque_limit#punch";
+parse_pgm_token_string_t cmd_uint16_arg1_w = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg1, str_uint16_arg1_w);
+parse_pgm_token_num_t cmd_uint16_val = TOKEN_NUM_INITIALIZER(struct cmd_uint16_result, val, UINT16);
+
+prog_char help_uint16_write[] = "Write uint16 value (write, num, val)";
+parse_pgm_inst_t cmd_uint16_write = {
+ .f = cmd_uint16_write_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_uint16_write,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_uint16_arg0_w,
+ (prog_void *)&cmd_uint16_arg1_w,
+ (prog_void *)&cmd_uint16_num,
+ (prog_void *)&cmd_uint16_val,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Uint8 */
+
+
+/* this structure is filled when cmd_uint8_read is parsed successfully */
+struct cmd_uint8_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t num;
+ uint8_t val;
+};
+
+/* function called when cmd_uint8_read is parsed successfully */
+static void cmd_uint8_read_parsed(void * parsed_result, void * data)
+{
+ struct cmd_uint8_result *res = parsed_result;
+ uint8_t ret;
+ uint8_t val;
+ uint8_t addr = addr_from_string(res->arg1);
+
+ ret = AX12_read_byte(&gen.ax12, res->num, addr, &val);
+ if (ret)
+ printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+ printf_P(PSTR("%s: %d [0x%.2x]\r\n"), res->arg1, val, val);
+}
+
+prog_char str_uint8_arg0[] = "read";
+parse_pgm_token_string_t cmd_uint8_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg0, str_uint8_arg0);
+prog_char str_uint8_arg1[] = "id#firmware#baudrate#delay#high_lim_temp#"
+ "low_lim_volt#high_lim_volt#status_return#alarm_led#"
+ "alarm_shutdown#torque_enable#led#cw_comp_margin#"
+ "ccw_comp_margin#cw_comp_slope#ccw_comp_slope#"
+ "voltage#temp#reginst#moving#lock";
+parse_pgm_token_string_t cmd_uint8_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg1, str_uint8_arg1);
+parse_pgm_token_num_t cmd_uint8_num = TOKEN_NUM_INITIALIZER(struct cmd_uint8_result, num, UINT8);
+
+prog_char help_uint8_read[] = "Read uint8 value (type, num)";
+parse_pgm_inst_t cmd_uint8_read = {
+ .f = cmd_uint8_read_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_uint8_read,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_uint8_arg0,
+ (prog_void *)&cmd_uint8_arg1,
+ (prog_void *)&cmd_uint8_num,
+ NULL,
+ },
+};
+
+/* function called when cmd_uint8_write is parsed successfully */
+static void cmd_uint8_write_parsed(void * parsed_result, void * data)
+{
+ struct cmd_uint8_result *res = parsed_result;
+ uint8_t addr = addr_from_string(res->arg1);
+ uint8_t ret;
+ printf_P(PSTR("writing %s: %d [0x%.2x]\r\n"), res->arg1,
+ res->val, res->val);
+ ret = AX12_write_byte(&gen.ax12, res->num, addr, res->val);
+ if (ret)
+ printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+}
+
+prog_char str_uint8_arg0_w[] = "write";
+parse_pgm_token_string_t cmd_uint8_arg0_w = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg0, str_uint8_arg0_w);
+prog_char str_uint8_arg1_w[] = "id#baudrate#delay#high_lim_temp#"
+ "low_lim_volt#high_lim_volt#status_return#alarm_led#"
+ "alarm_shutdown#torque_enable#led#cw_comp_margin#"
+ "ccw_comp_margin#cw_comp_slope#ccw_comp_slope#"
+ "reginst#lock";
+parse_pgm_token_string_t cmd_uint8_arg1_w = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg1, str_uint8_arg1_w);
+parse_pgm_token_num_t cmd_uint8_val = TOKEN_NUM_INITIALIZER(struct cmd_uint8_result, val, UINT8);
+
+prog_char help_uint8_write[] = "Write uint8 value (write, num, val)";
+parse_pgm_inst_t cmd_uint8_write = {
+ .f = cmd_uint8_write_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_uint8_write,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_uint8_arg0_w,
+ (prog_void *)&cmd_uint8_arg1_w,
+ (prog_void *)&cmd_uint8_num,
+ (prog_void *)&cmd_uint8_val,
+ NULL,
+ },
+};
git.droids-corp.org / aversive.git / blobdiff