+++ /dev/null
-/*
- * 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 1.4 2009-04-24 19:30:42 zer0 Exp $
- *
- */
-
-#include <aversive.h>
-#include <aversive/list.h>
-#include <aversive/wait.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 <blocking_detection_manager.h>
-
-#include <rdline.h>
-#include <parse.h>
-#include <parse_string.h>
-#include <parse_num.h>
-
-#include "main.h"
-#include "ax12_user.h"
-
-#define AX12_ERROR(args...) ERROR(E_USER_AX12, args)
-#define AX12_NOTICE(args...) NOTICE(E_USER_AX12, args)
-#define AX12_MAX_TRIES 3
-
-/*
- * 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 UCSRxB UCSR0B
-#define AX12_TIMEOUT 15000L /* in us */
-
-static uint32_t ax12_stats_ops = 0; /* total ops */
-static uint32_t ax12_stats_fails = 0; /* number of fails */
-static uint32_t ax12_stats_drops = 0; /* number of drops (3 fails) */
-static uint32_t ax12_dropped_logs = 0; /* error messages that were not displayed */
-static microseconds t_prev_msg = 0;
-
-/********************************* 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(__attribute__((unused)) 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);
- }
-}
-
-/* ----- */
-
-/* log rate limit */
-static void ax12_print_error(uint8_t err, uint16_t line)
-{
- microseconds t2;
-
- /* no more than 1 log per sec */
- t2 = time_get_us2();
-
- if (t2 - t_prev_msg < 1000000L) {
- ax12_dropped_logs++;
- return;
- }
- AX12_ERROR("AX12 error %x at line %d (%ld messages dropped)",
- err, line, ax12_dropped_logs);
- ax12_dropped_logs = 0;
- t_prev_msg = t2;
-}
-
-uint8_t __ax12_user_write_byte(AX12 *ax12, uint8_t id, AX12_ADDRESS address,
- uint8_t data, uint16_t line)
-{
- uint8_t err, i;
-
- ax12_stats_ops++;
-
- for (i=0; i<AX12_MAX_TRIES ; i++) {
- err = AX12_write_byte(ax12, id, address, data);
- if (err == 0)
- break;
- wait_ms(2); /* BAD HACK XXX */
- ax12_stats_fails++;
- }
- if (err == 0)
- return 0;
-
- ax12_print_error(err, line);
- ax12_stats_drops++;
- return err;
-}
-
-uint8_t __ax12_user_write_int(AX12 *ax12, uint8_t id, AX12_ADDRESS address,
- uint16_t data, uint16_t line)
-{
- uint8_t err, i;
-
- ax12_stats_ops++;
-
- for (i=0; i<AX12_MAX_TRIES ; i++) {
- err = AX12_write_int(ax12, id, address, data);
- if (err == 0)
- break;
- wait_ms(2); /* BAD HACK XXX */
- ax12_stats_fails++;
- }
- if (err == 0)
- return 0;
-
- ax12_print_error(err, line);
- ax12_stats_drops++;
- return err;
-}
-
-uint8_t __ax12_user_read_byte(AX12 *ax12, uint8_t id, AX12_ADDRESS address,
- uint8_t *val, uint16_t line)
-{
- uint8_t err, i;
-
- ax12_stats_ops++;
-
- for (i=0; i<AX12_MAX_TRIES ; i++) {
- err = AX12_read_byte(ax12, id, address, val);
- if (err == 0)
- break;
- wait_ms(2); /* BAD HACK XXX */
- ax12_stats_fails++;
- }
- if (err == 0) {
- /* XXX hack for broadcast */
- if (id == AX12_BROADCAST_ID)
- wait_ms(1);
- return 0;
- }
-
- ax12_print_error(err, line);
- ax12_stats_drops++;
- return err;
-}
-
-uint8_t __ax12_user_read_int(AX12 *ax12, uint8_t id, AX12_ADDRESS address,
- uint16_t *val, uint16_t line)
-{
- uint8_t err, i;
-
- ax12_stats_ops++;
-
- for (i=0; i<AX12_MAX_TRIES ; i++) {
- err = AX12_read_int(ax12, id, address, val);
- if (err == 0)
- break;
- wait_ms(2); /* BAD HACK XXX */
- ax12_stats_fails++;
- }
- if (err == 0) {
- /* XXX hack for broadcast */
- if (id == AX12_BROADCAST_ID)
- wait_ms(1);
- return 0;
- }
-
- ax12_print_error(err, line);
- ax12_stats_drops++;
- return err;
-}
-
-void ax12_dump_stats(void)
-{
- printf_P(PSTR("AX12 stats:\r\n"));
- printf_P(PSTR(" total ops: %ld\r\n"), ax12_stats_ops);
- printf_P(PSTR(" total fails: %ld\r\n"), ax12_stats_fails);
- printf_P(PSTR(" total drops: %ld\r\n"), ax12_stats_drops);
- printf_P(PSTR(" logs dropped since last message: %ld\r\n"), ax12_dropped_logs);
-}
-
-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);
- t_prev_msg = time_get_us2();
-}
git.droids-corp.org / aversive.git / blobdiff