/* 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. */ } }