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/* serial.c */
/* APBTasserv - asservissement Robot 2004 {{{
 *
 * Copyright (C) 2003 Nicolas Schodet
 *
 * Robot APB Team/Efrei 2004.
 *	Web: http://assos.efrei.fr/robot/
 *	Mail: robot AT efrei DOT fr
 *
 * 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 "serial.h"
#include "motor.h"

/* Macros de lecture du tampon. */
#define HEXDIGIT(a) ((a) <= 9 ? (a) + '0' : (a) + ('a' - 10))
#define SERIAL2INT(a, b) (HEX (a) << 4 | HEX (b))

#define CRLF "\r"

/* Tampon de reception. */
char serial_recv_buf[SERIAL_RECV_BUF_LEN];
int serial_recv_buf_n;
short serial_recv_full, serial_recv_working;

/* Tampon d'emmission. */
#define SERIAL_SEND_BUF_LEN 20
char serial_send_buf[SERIAL_SEND_BUF_LEN];
int serial_send_buf_n;
short serial_send_full, serial_send_working;

/* Initialise la reception serie. */
void
serial_init (void)
{
    serial_recv_buf_n = 0;
    serial_recv_full = 0;
    serial_recv_working = 0;
    serial_send_buf_n = 0;
    serial_send_full = 0;
    serial_send_working = 0;
    printf ("!z" CRLF);
}

/* Recois des caract�res. */
#int_RDA
serial_recv ()
{
    char c;
    if (serial_recv_full) return;
    c = getc ();
    if (c == '\n' || c == '\r')
      {
	if (serial_recv_buf_n)
	    serial_recv_full = 1;
      }
    else if (c == '!' || serial_recv_buf_n >= SERIAL_RECV_BUF_LEN)
	serial_recv_buf_n = 0;
    else
	serial_recv_buf[serial_recv_buf_n++] = c;
}

/* Traite la commande recue. */
void
serial_parse (void)
{
    restart_wdt ();
    /* Si le tampon n'est pas plein, bye, bye. */
    if (!serial_recv_full || serial_recv_working) return;
    serial_recv_working = 1;
    /* V�rifie la taille du tampon. */
    if (serial_recv_buf_n)
      {
	/* Est-ce une commande moteur. */
	if (!motor_parse ())
	  {
	    switch (serial_recv_com ())
	      {
	      case 'z':
		reset_cpu ();
		break;
	      default:
		serial_send_error ('?');
		break;
	      }
	  }
      }
    serial_recv_buf_n = 0;
    serial_recv_working = 0;
    serial_recv_full = 0;
}

/* Envoie un code d'erreur. */
void
serial_send_error (char c)
{
    printf ("!e%c" CRLF, c);
}

/* Envoie un code ok. */
void
serial_send_ok (char c)
{
    printf ("!o%c" CRLF, c);
}

/* Envoie un rapport d'un moteur. */
void
serial_send_motor_stat (char side, unsigned int vacc, unsigned long &e, unsigned long &pwm)
{
    printf ("!m%c", side);
    serial_send_int (vacc);
    putc (',');
    serial_send_long (e);
    putc (',');
    serial_send_long (pwm);
    puts (CRLF);
}

/* Envoie un long. */
void
serial_send_long (unsigned long &value)
{
    putc (HEXDIGIT ((make8 (value, 1) >> 4) & 0xf));
    putc (HEXDIGIT (make8 (value, 1) & 0xf));
    putc (HEXDIGIT ((make8 (value, 0) >> 4) & 0xf));
    putc (HEXDIGIT (make8 (value, 0) & 0xf));
}

/* Envoie un int. */
void
serial_send_int (unsigned int &value)
{
    putc (HEXDIGIT ((value >> 4) & 0xf));
    putc (HEXDIGIT (value & 0xf));
}