X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fax12_user.c;fp=projects%2Fmicrob2010%2Fmainboard%2Fax12_user.c;h=575f5bcc2ccabd468a8086d64a0db885efd84fe1;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

diff --git a/projects/microb2010/mainboard/ax12_user.c b/projects/microb2010/mainboard/ax12_user.c
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+/*  
+ *  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 1.3 2009-05-02 10:08:09 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 <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"
+
+/*
+ * 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);
+}