X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Ftest_board2008%2Fcommands_ax12.c;fp=projects%2Fmicrob2010%2Ftests%2Ftest_board2008%2Fcommands_ax12.c;h=804e084d35424c8847e1de87b8a3d167415edb49;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

diff --git a/projects/microb2010/tests/test_board2008/commands_ax12.c b/projects/microb2010/tests/test_board2008/commands_ax12.c
new file mode 100644
index 0000000..804e084
--- /dev/null
+++ b/projects/microb2010/tests/test_board2008/commands_ax12.c
@@ -0,0 +1,375 @@
+/*
+ *  Copyright Droids Corporation (2009)
+ * 
+ *  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: commands_ax12.c,v 1.3 2009-05-02 10:08:09 zer0 Exp $
+ *
+ *  Olivier MATZ <zer0@droids-corp.org> 
+ */
+
+#include <stdio.h>
+#include <string.h>
+
+#include <aversive/pgmspace.h>
+#include <aversive/wait.h>
+#include <aversive/error.h>
+
+#include <ax12.h>
+#include <uart.h>
+#include <pwm_ng.h>
+#include <time.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"
+
+uint8_t addr_from_string(const char *s)
+{
+	/* 16 bits */
+	if (!strcmp_P(s, PSTR("cw_angle_limit")))
+		return AA_CW_ANGLE_LIMIT_L;
+	if (!strcmp_P(s, PSTR("ccw_angle_limit")))
+		return AA_CCW_ANGLE_LIMIT_L;
+	if (!strcmp_P(s, PSTR("max_torque")))
+		return AA_MAX_TORQUE_L;
+	if (!strcmp_P(s, PSTR("down_calibration")))
+		return AA_DOWN_CALIBRATION_L;
+	if (!strcmp_P(s, PSTR("up_calibration")))
+		return AA_UP_CALIBRATION_L;
+	if (!strcmp_P(s, PSTR("torque_limit")))
+		return AA_TORQUE_LIMIT_L;
+	if (!strcmp_P(s, PSTR("position")))
+		return AA_PRESENT_POSITION_L;
+	if (!strcmp_P(s, PSTR("speed")))
+		return AA_PRESENT_SPEED_L;
+	if (!strcmp_P(s, PSTR("load")))
+		return AA_PRESENT_LOAD_L;
+	if (!strcmp_P(s, PSTR("moving_speed")))
+		return AA_MOVING_SPEED_L;
+	if (!strcmp_P(s, PSTR("model")))
+		return AA_MODEL_NUMBER_L;
+	if (!strcmp_P(s, PSTR("goal_pos")))
+		return AA_GOAL_POSITION_L;
+	if (!strcmp_P(s, PSTR("punch")))
+		return AA_PUNCH_L;
+
+	/* 8 bits */
+	if (!strcmp_P(s, PSTR("firmware")))
+		return AA_FIRMWARE;
+	if (!strcmp_P(s, PSTR("id")))
+		return AA_ID;
+	if (!strcmp_P(s, PSTR("baudrate")))
+		return AA_BAUD_RATE;
+	if (!strcmp_P(s, PSTR("delay")))
+		return AA_DELAY_TIME;
+	if (!strcmp_P(s, PSTR("high_lim_temp")))
+		return AA_HIGHEST_LIMIT_TEMP;
+	if (!strcmp_P(s, PSTR("low_lim_volt")))
+		return AA_LOWEST_LIMIT_VOLTAGE;
+	if (!strcmp_P(s, PSTR("high_lim_volt")))
+		return AA_HIGHEST_LIMIT_VOLTAGE;
+	if (!strcmp_P(s, PSTR("status_return")))
+		return AA_STATUS_RETURN_LEVEL;
+	if (!strcmp_P(s, PSTR("alarm_led")))
+		return AA_ALARM_LED;
+	if (!strcmp_P(s, PSTR("alarm_shutdown")))
+		return AA_ALARM_SHUTDOWN;
+	if (!strcmp_P(s, PSTR("torque_enable")))
+		return AA_TORQUE_ENABLE;
+	if (!strcmp_P(s, PSTR("led")))
+		return AA_LED;
+	if (!strcmp_P(s, PSTR("cw_comp_margin")))
+		return AA_CW_COMPLIANCE_MARGIN;
+	if (!strcmp_P(s, PSTR("ccw_comp_margin")))
+		return AA_CCW_COMPLIANCE_MARGIN;
+	if (!strcmp_P(s, PSTR("cw_comp_slope")))
+		return AA_CW_COMPLIANCE_SLOPE;
+	if (!strcmp_P(s, PSTR("ccw_comp_slope")))
+		return AA_CCW_COMPLIANCE_SLOPE;
+	if (!strcmp_P(s, PSTR("voltage")))
+		return AA_PRESENT_VOLTAGE;
+	if (!strcmp_P(s, PSTR("temp")))
+		return AA_PRESENT_TEMP;
+	if (!strcmp_P(s, PSTR("reginst")))
+		return AA_PRESENT_REGINST;
+	if (!strcmp_P(s, PSTR("moving")))
+		return AA_MOVING;
+	if (!strcmp_P(s, PSTR("lock")))
+		return AA_LOCK;
+	
+	return 0;
+}
+
+/**********************************************************/
+/* Ax12_Stress */
+
+/* this structure is filled when cmd_ax12_stress is parsed successfully */
+struct cmd_ax12_stress_result {
+	fixed_string_t arg0;
+	uint8_t id;
+};
+
+/* function called when cmd_ax12_stress is parsed successfully */
+static void cmd_ax12_stress_parsed(void *parsed_result, void *data)
+{
+	struct cmd_ax12_stress_result *res = parsed_result;
+	int i, nb_errs = 0;
+	uint8_t val;
+	microseconds t = time_get_us2();
+
+	for (i=0; i<1000; i++) {
+		if (AX12_read_byte(&gen.ax12, res->id, AA_ID, &val) != 0)
+			nb_errs ++;
+	}
+
+	printf_P(PSTR("%d errors / 1000\r\n"), nb_errs);
+	t = (time_get_us2() - t) / 1000;
+	printf_P(PSTR("Test done in %d ms\r\n"), (int)t);
+}
+
+prog_char str_ax12_stress_arg0[] = "ax12_stress";
+parse_pgm_token_string_t cmd_ax12_stress_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ax12_stress_result, arg0, str_ax12_stress_arg0);
+parse_pgm_token_num_t cmd_ax12_stress_id = TOKEN_NUM_INITIALIZER(struct cmd_ax12_stress_result, id, UINT8);
+
+prog_char help_ax12_stress[] = "Stress an AX12 with 1000 'read id' commands";
+parse_pgm_inst_t cmd_ax12_stress = {
+	.f = cmd_ax12_stress_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_ax12_stress,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_ax12_stress_arg0, 
+		(prog_void *)&cmd_ax12_stress_id, 
+		NULL,
+	},
+};
+
+/**********************************************************/
+
+/* this structure is filled when cmd_baudrate is parsed successfully */
+struct cmd_baudrate_result {
+	fixed_string_t arg0;
+	uint32_t arg1;
+};
+
+/* function called when cmd_baudrate is parsed successfully */
+static void cmd_baudrate_parsed(void * parsed_result, void * data)
+{
+	struct cmd_baudrate_result *res = parsed_result;
+	struct uart_config c;
+
+	printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
+	uart_getconf(1, &c);
+	c.baudrate = res->arg1;
+	uart_setconf(1, &c);
+	printf_P(PSTR("%d %d\r\n"), UBRR1H, UBRR1L);
+}
+
+prog_char str_baudrate_arg0[] = "baudrate";
+parse_pgm_token_string_t cmd_baudrate_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_baudrate_result, arg0, str_baudrate_arg0);
+parse_pgm_token_num_t cmd_baudrate_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_baudrate_result, arg1, UINT32);
+
+prog_char help_baudrate[] = "Change ax12 baudrate";
+parse_pgm_inst_t cmd_baudrate = {
+	.f = cmd_baudrate_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_baudrate,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_baudrate_arg0, 
+		(prog_void *)&cmd_baudrate_arg1, 
+		NULL,
+	},
+};
+
+/**********************************************************/
+/* Uint16 */
+
+
+/* this structure is filled when cmd_uint16_read is parsed successfully */
+struct cmd_uint16_result {
+	fixed_string_t arg0;
+	fixed_string_t arg1;
+	uint8_t num;
+	uint16_t val;
+};
+
+/* function called when cmd_uint16_read is parsed successfully */
+static void cmd_uint16_read_parsed(void * parsed_result, void * data)
+{
+	struct cmd_uint16_result *res = parsed_result;
+	uint8_t ret;
+	uint16_t val;
+	uint8_t addr = addr_from_string(res->arg1);
+	ret = AX12_read_int(&gen.ax12, res->num, addr, &val);
+	if (ret)
+		printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+	printf_P(PSTR("%s: %d [0x%.4x]\r\n"), res->arg1, val, val);
+}
+
+prog_char str_uint16_arg0[] = "read";
+parse_pgm_token_string_t cmd_uint16_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg0, str_uint16_arg0);
+prog_char str_uint16_arg1[] = "moving_speed#model#goal_pos#cw_angle_limit#ccw_angle_limit#"
+		"max_torque#down_calibration#up_calibration#torque_limit#"
+		"position#speed#load#punch";
+parse_pgm_token_string_t cmd_uint16_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg1, str_uint16_arg1);
+parse_pgm_token_num_t cmd_uint16_num = TOKEN_NUM_INITIALIZER(struct cmd_uint16_result, num, UINT8);
+
+prog_char help_uint16_read[] = "Read uint16 value (type, num)";
+parse_pgm_inst_t cmd_uint16_read = {
+	.f = cmd_uint16_read_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_uint16_read,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_uint16_arg0,
+		(prog_void *)&cmd_uint16_arg1,
+		(prog_void *)&cmd_uint16_num,
+		NULL,
+	},
+};
+
+/* function called when cmd_uint16_write is parsed successfully */
+static void cmd_uint16_write_parsed(void * parsed_result, void * data)
+{
+	struct cmd_uint16_result *res = parsed_result;
+	uint8_t ret;
+	uint8_t addr = addr_from_string(res->arg1);
+	printf_P(PSTR("writing %s: %d [0x%.4x]\r\n"), res->arg1,
+		 res->val, res->val);
+	ret = AX12_write_int(&gen.ax12, res->num, addr, res->val);
+	if (ret)
+		printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+}
+
+prog_char str_uint16_arg0_w[] = "write";
+parse_pgm_token_string_t cmd_uint16_arg0_w = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg0, str_uint16_arg0_w);
+prog_char str_uint16_arg1_w[] = "moving_speed#goal_pos#cw_angle_limit#ccw_angle_limit#"
+		"max_torque#torque_limit#punch";
+parse_pgm_token_string_t cmd_uint16_arg1_w = TOKEN_STRING_INITIALIZER(struct cmd_uint16_result, arg1, str_uint16_arg1_w);
+parse_pgm_token_num_t cmd_uint16_val = TOKEN_NUM_INITIALIZER(struct cmd_uint16_result, val, UINT16);
+
+prog_char help_uint16_write[] = "Write uint16 value (write, num, val)";
+parse_pgm_inst_t cmd_uint16_write = {
+	.f = cmd_uint16_write_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_uint16_write,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_uint16_arg0_w,
+		(prog_void *)&cmd_uint16_arg1_w,
+		(prog_void *)&cmd_uint16_num,
+		(prog_void *)&cmd_uint16_val,
+		NULL,
+	},
+};
+
+/**********************************************************/
+/* Uint8 */
+
+
+/* this structure is filled when cmd_uint8_read is parsed successfully */
+struct cmd_uint8_result {
+	fixed_string_t arg0;
+	fixed_string_t arg1;
+	uint8_t num;
+	uint8_t val;
+};
+
+/* function called when cmd_uint8_read is parsed successfully */
+static void cmd_uint8_read_parsed(void * parsed_result, void * data)
+{
+	struct cmd_uint8_result *res = parsed_result;
+	uint8_t ret;
+	uint8_t val;
+	uint8_t addr = addr_from_string(res->arg1);
+
+	ret = AX12_read_byte(&gen.ax12, res->num, addr, &val);
+	if (ret)
+		printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+	printf_P(PSTR("%s: %d [0x%.2x]\r\n"), res->arg1, val, val);
+}
+
+prog_char str_uint8_arg0[] = "read";
+parse_pgm_token_string_t cmd_uint8_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg0, str_uint8_arg0);
+prog_char str_uint8_arg1[] = "id#firmware#baudrate#delay#high_lim_temp#"
+		"low_lim_volt#high_lim_volt#status_return#alarm_led#"
+		"alarm_shutdown#torque_enable#led#cw_comp_margin#"
+		"ccw_comp_margin#cw_comp_slope#ccw_comp_slope#"
+		"voltage#temp#reginst#moving#lock";
+parse_pgm_token_string_t cmd_uint8_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg1, str_uint8_arg1);
+parse_pgm_token_num_t cmd_uint8_num = TOKEN_NUM_INITIALIZER(struct cmd_uint8_result, num, UINT8);
+
+prog_char help_uint8_read[] = "Read uint8 value (type, num)";
+parse_pgm_inst_t cmd_uint8_read = {
+	.f = cmd_uint8_read_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_uint8_read,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_uint8_arg0,
+		(prog_void *)&cmd_uint8_arg1,
+		(prog_void *)&cmd_uint8_num,
+		NULL,
+	},
+};
+
+/* function called when cmd_uint8_write is parsed successfully */
+static void cmd_uint8_write_parsed(void * parsed_result, void * data)
+{
+	struct cmd_uint8_result *res = parsed_result;
+	uint8_t addr = addr_from_string(res->arg1);
+	uint8_t ret;
+	printf_P(PSTR("writing %s: %d [0x%.2x]\r\n"), res->arg1, 
+		 res->val, res->val);
+	ret = AX12_write_byte(&gen.ax12, res->num, addr, res->val);
+	if (ret)
+		printf_P(PSTR("AX12 error %.2x!\r\n"), ret);
+}
+
+prog_char str_uint8_arg0_w[] = "write";
+parse_pgm_token_string_t cmd_uint8_arg0_w = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg0, str_uint8_arg0_w);
+prog_char str_uint8_arg1_w[] = "id#baudrate#delay#high_lim_temp#"
+		"low_lim_volt#high_lim_volt#status_return#alarm_led#"
+		"alarm_shutdown#torque_enable#led#cw_comp_margin#"
+		"ccw_comp_margin#cw_comp_slope#ccw_comp_slope#"
+		"reginst#lock";
+parse_pgm_token_string_t cmd_uint8_arg1_w = TOKEN_STRING_INITIALIZER(struct cmd_uint8_result, arg1, str_uint8_arg1_w);
+parse_pgm_token_num_t cmd_uint8_val = TOKEN_NUM_INITIALIZER(struct cmd_uint8_result, val, UINT8);
+
+prog_char help_uint8_write[] = "Write uint8 value (write, num, val)";
+parse_pgm_inst_t cmd_uint8_write = {
+	.f = cmd_uint8_write_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_uint8_write,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_uint8_arg0_w,
+		(prog_void *)&cmd_uint8_arg1_w,
+		(prog_void *)&cmd_uint8_num,
+		(prog_void *)&cmd_uint8_val,
+		NULL,
+	},
+};