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Diffstat (limited to 'digital/avr/modules/devices/servo/test/test_servo.c')
-rw-r--r--digital/avr/modules/devices/servo/test/test_servo.c86
1 files changed, 86 insertions, 0 deletions
diff --git a/digital/avr/modules/devices/servo/test/test_servo.c b/digital/avr/modules/devices/servo/test/test_servo.c
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+++ b/digital/avr/modules/devices/servo/test/test_servo.c
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+/* test_servo.c. */
+/* avr.servo - Servo AVR module. {{{
+ *
+ * Copyright (C) 2011 Maxime Hadjinlian
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT 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.
+ *
+ * }}} */
+
+#include "common.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+#include "modules/devices/servo/servo.h"
+#include "modules/utils/utils.h"
+#include "modules/utils/byte.h"
+#include "io.h"
+
+/* proto_callback is called by proto
+ * when a command is complete and valid.
+ * proto act as an intelligent buffer for us.
+*/
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ /* This macro combine command and size in one integer. */
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ /* This should be generaly implemented. */
+ utils_reset ();
+ break;
+ case c ('s', 3):
+ /* We are looking to receive a command in the form !sxxyyyy
+ * where xx is the servo id and yyyy is the command itself.
+ * For the size, please read digital/avr/modules/proto/proto.txt
+ */
+ servo_set_position (args[0], v8_to_v16 (args[1], args[2]));
+ break;
+ default:
+ /* This is to handle default commands, return an error. */
+ proto_send0 ('?');
+ return;
+ }
+ /* When no error acknoledge. */
+ proto_send (cmd, size, args);
+#undef c
+}
+
+int
+main (int argc, char **argv)
+{
+ avr_init (argc, argv);
+ sei ();
+ uart0_init ();
+ servo_init ();
+
+ /* This command should be generaly sent on reset. */
+ proto_send0 ('z');
+ /* This is to accept commands. */
+ while (1)
+ {
+ uint8_t c = uart0_getc ();
+ proto_accept (c);
+ /* once the command is complete according to
+ * proto's state machine, proto_callback will
+ * be called with the full command.
+ */
+ }
+}