X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmechboard%2Fax12_user.c;fp=projects%2Fmicrob2010%2Fmechboard%2Fax12_user.c;h=0000000000000000000000000000000000000000;hp=9000bbdfedc2e858a919c927652635f6ac5dd434;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/mechboard/ax12_user.c b/projects/microb2010/mechboard/ax12_user.c
deleted file mode 100644
index 9000bbd..0000000
--- a/projects/microb2010/mechboard/ax12_user.c
+++ /dev/null
@@ -1,305 +0,0 @@
-/*  
- *  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();
-}