microb 2010

[aversive.git] / projects / microb2010 / tests / test_board2008 / action.c

diff --git a/projects/microb2010/tests/test_board2008/action.c b/projects/microb2010/tests/test_board2008/action.c
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+/*  
+ *  Copyright Droids Corporation, Microb Technology (2008)
+ * 
+ *  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: action.c,v 1.5 2008-03-31 22:22:52 zer0 Exp $
+ *
+ *  Olivier MATZ <zer0@droids-corp.org> 
+ */
+
+#include <aversive.h>
+
+#include <uart.h>
+
+#include "../common/i2c_commands.h"
+#include "main.h"
+#include "action.h"
+
+void action_init(void)
+{
+}
+
+/* 
+ * Protocol:
+ *   0000 XXXX select servo XXXX
+ *   01XX XXXX set LSB of servo
+ *   10XX XXXX set MSB of servo and validate value
+ */
+void action_servo_set(uint8_t num, uint16_t us)
+{
+       uart1_send(num);
+       uart1_send(0x40 | (us&0x3F));
+       uart1_send(0x80 | ((us>>6)&0x3F));
+}