summaryrefslogtreecommitdiffhomepage
path: root/digital/ai/src/twi_master/mimot.c
blob: 6346f7b992960e472bc074c41f4321df4674b9a1 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
/* mimot.c */
/* ai - Robot Artificial Intelligence. {{{
 *
 * Copyright (C) 2010 Nicolas Schodet
 *
 * 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 "mimot.h"

#include "twi_master.h"

#include "modules/utils/byte.h"
#include "io.h"

/** Flag bit positions in mimot status byte. */
enum mimot_status_flag_t
{
    /** Motor0 movement finished with success. */
    mimot_status_flag_motor0_succeed = 0,
    /** Motor0 movement finished with failure. */
    mimot_status_flag_motor0_failed = 1,
    /** Motor1 movement finished with success. */
    mimot_status_flag_motor1_succeed = 2,
    /** Motor1 movement finished with failure. */
    mimot_status_flag_motor1_failed = 3,
};

/** Status structure. */
struct mimot_status_t
{
    /** Status flags. */
    uint8_t status;
    /** Mimot input port. */
    uint8_t input_port;
    /** Motor0 position. */
    uint16_t motor0_position;
    /** Motor1 position. */
    uint16_t motor1_position;
};

/** Current mimot status. */
struct mimot_status_t mimot_status;

void
mimot_init (void)
{
    /* Nothing to do. */
}

void
mimot_status_cb (uint8_t *status)
{
    /* Parse received data and store them. */
    mimot_status.status = status[0];
    mimot_status.input_port = status[1];
    mimot_status.motor0_position = v8_to_v16 (status[3], status[4]);
    mimot_status.motor1_position = v8_to_v16 (status[5], status[6]);
}

asserv_status_e
mimot_motor0_cmd_status (void)
{
    if (mimot_status.status & _BV (mimot_status_flag_motor0_succeed))
	return success;
    else if (mimot_status.status & _BV (mimot_status_flag_motor0_failed))
	return failure;
    else
	return none;
}

asserv_status_e
mimot_motor1_cmd_status (void)
{
    if (mimot_status.status & _BV (mimot_status_flag_motor1_succeed))
	return success;
    else if (mimot_status.status & _BV (mimot_status_flag_motor1_failed))
	return failure;
    else
	return none;
}

uint8_t
mimot_get_input (void)
{
    return mimot_status.input_port;
}

uint16_t
mimot_get_motor0_position (void)
{
    return mimot_status.motor0_position;
}

uint16_t
mimot_get_motor1_position (void)
{
    return mimot_status.motor1_position;
}

void
mimot_reset (void)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'z';
    twi_master_send_buffer (1);
}

void
mimot_set_motor0_position (uint16_t position)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'p';
    buffer[1] = 'Y';
    buffer[2] = 0;
    buffer[3] = v16_to_v8 (position, 1);
    buffer[4] = v16_to_v8 (position, 0);
    twi_master_send_buffer (5);
}

void
mimot_set_motor1_position (uint16_t position)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'p';
    buffer[1] = 'Y';
    buffer[2] = 1;
    buffer[3] = v16_to_v8 (position, 1);
    buffer[4] = v16_to_v8 (position, 0);
    twi_master_send_buffer (5);
}

void
mimot_move_motor0_absolute (uint16_t position, uint16_t speed)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'b';
    buffer[1] = v16_to_v8 (position, 1);
    buffer[2] = v16_to_v8 (position, 0);
    buffer[3] = v16_to_v8 (speed, 1);
    buffer[4] = v16_to_v8 (speed, 0);
    twi_master_send_buffer (5);
}

void
mimot_move_motor1_absolute (uint16_t position, uint16_t speed)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'c';
    buffer[1] = v16_to_v8 (position, 1);
    buffer[2] = v16_to_v8 (position, 0);
    buffer[3] = v16_to_v8 (speed, 1);
    buffer[4] = v16_to_v8 (speed, 0);
    twi_master_send_buffer (5);
}

void
mimot_motor0_zero_position (int16_t speed)
{
    mimot_motor0_find_zero (speed, 0, 0);
}

void
mimot_motor1_zero_position (int16_t speed)
{
    mimot_motor1_find_zero (speed, 0, 0);
}

void
mimot_motor0_find_zero (int16_t speed, uint8_t use_switch,
			uint16_t reset_position)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'B';
    buffer[1] = 0;
    buffer[2] = v16_to_v8 (speed, 1);
    buffer[3] = v16_to_v8 (speed, 0);
    buffer[4] = use_switch;
    buffer[5] = v16_to_v8 (reset_position, 1);
    buffer[6] = v16_to_v8 (reset_position, 0);
    twi_master_send_buffer (7);
}

void
mimot_motor1_find_zero (int16_t speed, uint8_t use_switch,
			uint16_t reset_position)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'B';
    buffer[1] = 1;
    buffer[2] = v16_to_v8 (speed, 1);
    buffer[3] = v16_to_v8 (speed, 0);
    buffer[4] = use_switch;
    buffer[5] = v16_to_v8 (reset_position, 1);
    buffer[6] = v16_to_v8 (reset_position, 0);
    twi_master_send_buffer (7);
}

void
mimot_motor0_clamp (int16_t speed, int16_t pwm)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'l';
    buffer[1] = 0;
    buffer[2] = v16_to_v8 (speed, 1);
    buffer[3] = v16_to_v8 (speed, 0);
    buffer[4] = v16_to_v8 (pwm, 1);
    buffer[5] = v16_to_v8 (pwm, 0);
    twi_master_send_buffer (6);
}

void
mimot_motor1_clamp (int16_t speed, int16_t pwm)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'l';
    buffer[1] = 1;
    buffer[2] = v16_to_v8 (speed, 1);
    buffer[3] = v16_to_v8 (speed, 0);
    buffer[4] = v16_to_v8 (pwm, 1);
    buffer[5] = v16_to_v8 (pwm, 0);
    twi_master_send_buffer (6);
}

void
mimot_motor0_free (void)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'w';
    buffer[1] = 0;
    twi_master_send_buffer (2);
}

void
mimot_motor1_free (void)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'w';
    buffer[1] = 1;
    twi_master_send_buffer (2);
}

void
mimot_motor_output_set (uint8_t motor, int16_t pwm)
{
    uint8_t *buffer = twi_master_get_buffer (MIMOT_SLAVE);
    buffer[0] = 'W';
    buffer[1] = motor;
    buffer[2] = v16_to_v8 (pwm, 1);
    buffer[3] = v16_to_v8 (pwm, 0);
    twi_master_send_buffer (4);
}