+++ /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 1.2 2009-04-07 20:03:48 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 <blocking_detection_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