code 2010

[aversive.git] / projects / microb2010 / tests / beacon_tsop / uart_proto.c

diff --git a/projects/microb2010/tests/beacon_tsop/uart_proto.c b/projects/microb2010/tests/beacon_tsop/uart_proto.c
new file mode 100644 (file)
index 0000000..81c315c
--- /dev/null
+++ b/projects/microb2010/tests/beacon_tsop/uart_proto.c
@@ -0,0 +1,117 @@
+/*  
+ *  Copyright Droids Corporation (2010)
+ *  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: main.c,v 1.8 2009-05-02 10:08:09 zer0 Exp $
+ *
+ */
+
+#include <aversive.h>
+#include <aversive/wait.h>
+
+#include <pid.h>
+#include <pwm_ng.h>
+#include <parse.h>
+#include <rdline.h>
+#include <uart.h>
+
+#include "cmdline.h"
+#include "main.h"
+#include "board2006.h"
+//#include "board2010.h"
+
+#define UART_NUM 0
+
+#if UART_NUM == 0
+
+#define UCSRxA UCSR0A
+#define UCSRxB UCSR0B
+#define UCSRxC UCSR0C
+#define RXCx RXC0
+#define UDRx UDR0
+#define UDREx UDRE0
+#define U2Xx U2X0
+#define RXENx RXEN0
+#define TXENx TXEN0
+#define UCSZx0 UCSZ00
+#define UCSZx1 UCSZ01
+#define UBRRxL UBRR0L
+#define UBRRxH UBRR0H
+
+#elif  UART_NUM == 1
+
+#define UCSRxA UCSR1A
+#define UCSRxB UCSR1B
+#define UCSRxC UCSR1C
+#define RXCx RXC1
+#define UDRx UDR1
+#define UDREx UDRE1
+#define U2Xx U2X1
+#define RXENx RXEN1
+#define TXENx TXEN1
+#define UCSZx0 UCSZ10
+#define UCSZx1 UCSZ11
+#define UBRRxL UBRR1L
+#define UBRRxH UBRR1H
+
+#endif
+
+void uart_proto_init(void)
+{
+       UCSRxA = _BV(U2Xx);
+       UCSRxB = _BV(RXENx) | _BV(TXENx);
+       UCSRxC = _BV(UCSZx1) | _BV(UCSZx0); /* 8 bits no parity 1 stop */
+       UBRRxL = 34; /* 57600 at 16 Mhz */
+       UBRRxH = 0;
+}
+
+static void uart_proto_send(char c) 
+{ 
+       while ( !( UCSRxA & (1<<UDREx)) ) ;
+       UDRx = c; 
+}
+
+
+/* transmit an integer between 0 and 16384 */
+static void xmit_int14(uint16_t x)
+{
+       uint8_t c;
+
+       c = x & 0x7f;
+       c |= 0x80;
+       uart_proto_send(c);
+
+       x >>= 7;
+       c = x & 0x7f;
+       c |= 0x80;
+       uart_proto_send(c);
+}
+
+void xmit_opp(uint16_t d, uint16_t a)
+{
+       uart_proto_send(0);
+       xmit_int14(d);
+       xmit_int14(a);
+}
+
+void xmit_static(uint16_t x, uint16_t y, uint16_t a)
+{
+       uart_proto_send(1);
+       xmit_int14(x);
+       xmit_int14(y);
+       xmit_int14(a);
+}