X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmechboard%2Fax12_user.h;fp=projects%2Fmicrob2010%2Fmechboard%2Fax12_user.h;h=bbd7283c649c0cfe66fd596bafce350ad1e17c9a;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

diff --git a/projects/microb2010/mechboard/ax12_user.h b/projects/microb2010/mechboard/ax12_user.h
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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.h,v 1.3 2009-04-07 20:03:48 zer0 Exp $
+ *
+ */
+
+/* This is the ax12 user interface. It initializes the aversive AX12
+ * module so that it works in background, using interrupt driver uart.
+ *
+ * Be carreful, a call to AX12 module is synchronous and uses
+ * interruptions, so interrupts must be enabled. On the other side, a
+ * call _must not_ interrupt another one. That's why all calls to the
+ * module are done either in init() functions or in a scheduler event
+ * with prio=ARM_PRIO.
+ */
+
+/* XXX do a safe_ax12() function that will retry once or twice if we
+ * see some problems. */
+
+#define UART_AX12_NUM 0
+
+void ax12_user_init(void);
+
+void ax12_dump_stats(void);
+
+#define ax12_user_write_byte(ax12, id, addr, data)		\
+	__ax12_user_write_byte(ax12, id, addr, data, __LINE__)
+
+#define ax12_user_write_int(ax12, id, addr, data)		\
+	__ax12_user_write_int(ax12, id, addr, data, __LINE__)
+
+#define ax12_user_read_byte(ax12, id, addr, data)		\
+	__ax12_user_read_byte(ax12, id, addr, data, __LINE__)
+
+#define ax12_user_read_int(ax12, id, addr, data)		\
+	__ax12_user_read_int(ax12, id, addr, data, __LINE__)
+
+/** @brief Write byte in AX-12 memory 
+ * @return Error code from AX-12 (0 means okay) */
+uint8_t __ax12_user_write_byte(AX12 *ax12, uint8_t id, AX12_ADDRESS address,
+			       uint8_t data, uint16_t line);
+
+/** @brief Write integer (2 bytes) in AX-12 memory 
+ * @return Error code from AX-12 (0 means okay)
+ *
+ * address   : data low
+ * address+1 : data high
+ */
+uint8_t __ax12_user_write_int(AX12 *ax12, uint8_t id, AX12_ADDRESS address,
+			      uint16_t data, uint16_t line);
+
+/** @brief Read byte from AX-12 memory 
+ * @return Error code from AX-12 (0 means okay) */
+uint8_t __ax12_user_read_byte(AX12 *ax12, uint8_t id, AX12_ADDRESS address,
+			      uint8_t *val, uint16_t line);
+
+/** @brief Write integer (2 bytes) from AX-12 memory
+ * @return Error code from AX-12 (0 means okay) */
+uint8_t __ax12_user_read_int(AX12 *ax12, uint8_t id, AX12_ADDRESS address,
+			     uint16_t *val, uint16_t line);