summaryrefslogtreecommitdiff
path: root/n/avr
diff options
context:
space:
mode:
authorschodet2005-07-05 18:43:43 +0000
committerschodet2005-07-05 18:43:43 +0000
commite4dbdb962706aa5c763f9b16c93bbd9d1239dbaf (patch)
treeab1b28e84e988341d9d266ad87bad47d58abda9d /n/avr
parent793b2bec21d37c45e498dd38008566f891dde86e (diff)
Ajout de proto.
Diffstat (limited to 'n/avr')
-rw-r--r--n/avr/modules/proto/Makefile5
-rw-r--r--n/avr/modules/proto/Makefile.module1
-rw-r--r--n/avr/modules/proto/README25
-rw-r--r--n/avr/modules/proto/avrconfig.h38
-rw-r--r--n/avr/modules/proto/proto.c192
-rw-r--r--n/avr/modules/proto/proto.h55
-rw-r--r--n/avr/modules/proto/proto.txt80
-rw-r--r--n/avr/modules/proto/proto_inline.c303
-rw-r--r--n/avr/modules/proto/test/Makefile17
-rw-r--r--n/avr/modules/proto/test/avrconfig.h81
-rw-r--r--n/avr/modules/proto/test/test_proto.c83
-rwxr-xr-xn/avr/modules/proto/utils/protodec103
12 files changed, 983 insertions, 0 deletions
diff --git a/n/avr/modules/proto/Makefile b/n/avr/modules/proto/Makefile
new file mode 100644
index 0000000..5927da2
--- /dev/null
+++ b/n/avr/modules/proto/Makefile
@@ -0,0 +1,5 @@
+BASE = ../..
+DOC = proto.html
+EXTRACTDOC = proto.h proto_inline.h avrconfig.h
+
+include $(BASE)/make/Makefile.gen
diff --git a/n/avr/modules/proto/Makefile.module b/n/avr/modules/proto/Makefile.module
new file mode 100644
index 0000000..933c537
--- /dev/null
+++ b/n/avr/modules/proto/Makefile.module
@@ -0,0 +1 @@
+proto_SOURCES = proto.c
diff --git a/n/avr/modules/proto/README b/n/avr/modules/proto/README
new file mode 100644
index 0000000..d2ba108
--- /dev/null
+++ b/n/avr/modules/proto/README
@@ -0,0 +1,25 @@
+avr.proto - Protocol AVR module.
+
+This is a simple humman readable protocol for use over serial line for
+example. See modules README for more details about AVR modules.
+
+
+Copyright (C) 2005 Nicolas Schodet
+
+Robot APB Team/Efrei 2006.
+ Web: http://assos.efrei.fr/robot/
+ Email: 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.
diff --git a/n/avr/modules/proto/avrconfig.h b/n/avr/modules/proto/avrconfig.h
new file mode 100644
index 0000000..fe07533
--- /dev/null
+++ b/n/avr/modules/proto/avrconfig.h
@@ -0,0 +1,38 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.proto - Protocol AVR module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: 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.
+ *
+ * }}} */
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+#endif /* avrconfig_h */
diff --git a/n/avr/modules/proto/proto.c b/n/avr/modules/proto/proto.c
new file mode 100644
index 0000000..5d54b36
--- /dev/null
+++ b/n/avr/modules/proto/proto.c
@@ -0,0 +1,192 @@
+/* proto.c */
+/* avr.proto - Protocol AVR module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: 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 "common.h"
+#include "proto.h"
+
+#include <ctype.h>
+
+/* +AutoDec */
+
+/** Accept a digit to be used for args. */
+static void
+proto_accept_digit (uint8_t c);
+
+#if AC_PROTO_QUOTE == 1
+/** Accept a quoted char to be used for args. */
+static void
+proto_accept_char (uint8_t c);
+#endif
+
+/* Send a hex digit. */
+inline static void
+proto_hex (uint8_t h);
+
+/* -AutoDec */
+
+static uint8_t cmd;
+static uint8_t size;
+static uint8_t args[AC_PROTO_ARGS_MAX_SIZE];
+
+/** Step of decoding:
+ * - 0: nothing received.
+ * - 1: bang received.
+ * - 2: command received.
+ * - 3: command received, and processing a number.
+ * - 4: quote received. */
+static uint8_t step;
+
+/** Accept a new character. */
+void
+proto_accept (uint8_t c)
+{
+ if (c == '!')
+ step = 1;
+ else
+ {
+ switch (step)
+ {
+ case 0:
+ /* Nothing received yet. */
+ break;
+ case 1:
+ /* Bang received yet. */
+ if (isalpha (c))
+ {
+ cmd = c;
+ size = 0;
+ step = 2;
+ }
+ else
+ {
+ AC_PROTO_CALLBACK ('?', 0, 0);
+ step = 0;
+ }
+ break;
+ case 2:
+ /* Command received yet. */
+ if (c == '\r')
+ {
+ AC_PROTO_CALLBACK (cmd, size, args);
+ step = 0;
+ }
+#if AC_PROTO_QUOTE == 1
+ else if (c == '\'')
+ step = 4;
+#endif
+ else
+ {
+ step = 3;
+ proto_accept_digit (c);
+ }
+ break;
+ case 3:
+ step--;
+ proto_accept_digit (c);
+ break;
+#if AC_PROTO_QUOTE == 1
+ case 4:
+ step = 2;
+ proto_accept_char (c);
+ break;
+#endif
+ }
+ }
+}
+
+/** Accept a digit to be used for args. */
+static void
+proto_accept_digit (uint8_t c)
+{
+ /* Test for argument list overflow. */
+ if (size >= AC_PROTO_ARGS_MAX_SIZE)
+ {
+ AC_PROTO_CALLBACK ('?', 0, 0);
+ step = 0;
+ return;
+ }
+ /* Convert from hexa. */
+ if ('0' <= c && c <= '9')
+ c -= '0';
+ else if ('a' <= c && c <= 'f')
+ c -= 'a' - 10;
+ else if ('A' <= c && c <= 'F')
+ c -= 'A' - 10;
+ else
+ {
+ AC_PROTO_CALLBACK ('?', 0, 0);
+ step = 0;
+ return;
+ }
+ /* Add digit. */
+ args[size] <<= 4;
+ args[size] |= c;
+ if (step == 2)
+ size++;
+}
+
+#if AC_PROTO_QUOTE == 1
+/** Accept a quoted char to be used for args. */
+static void
+proto_accept_char (uint8_t c)
+{
+ /* Test for argument list overflow. */
+ if (size >= AC_PROTO_ARGS_MAX_SIZE)
+ {
+ AC_PROTO_CALLBACK ('?', 0, 0);
+ step = 0;
+ return;
+ }
+ /* Add char. */
+ args[size] = c;
+ size++;
+}
+#endif
+
+/* Send a hex digit. */
+inline static void
+proto_hex (uint8_t h)
+{
+ AC_PROTO_PUTC (h >= 10 ? h - 10 + 'a' : h + '0');
+}
+
+/* Send a argument byte. */
+void
+proto_arg (uint8_t a)
+{
+ proto_hex ((a >> 4) & 0xf);
+ proto_hex ((a >> 0) & 0xf);
+}
+
+/** Send a command, generic function. */
+void
+proto_send (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ while (size--)
+ proto_arg (*args++);
+ AC_PROTO_PUTC ('\r');
+}
+
diff --git a/n/avr/modules/proto/proto.h b/n/avr/modules/proto/proto.h
new file mode 100644
index 0000000..0c971a9
--- /dev/null
+++ b/n/avr/modules/proto/proto.h
@@ -0,0 +1,55 @@
+#ifndef proto_h
+#define proto_h
+/* proto.h */
+/* {{{
+ *
+ * Copyright (C) 2004 Nicolas Schodet
+ *
+ * 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.
+ *
+ * Contact :
+ * Web: http://perso.efrei.fr/~schodet/
+ * Email: <contact@ni.fr.eu.org>
+ * }}} */
+
+/** Protocol callback function. Take the command and the arguments. Must be
+ * defined by the user. */
+void
+AC_PROTO_CALLBACK (uint8_t cmd, uint8_t size, uint8_t *args);
+
+/** Protocol putc function. Take a char to send. Must be defined by the
+ * user. */
+void
+AC_PROTO_PUTC (uint8_t c);
+
+/* +AutoDec */
+
+/** Accept a new character. */
+void
+proto_accept (uint8_t c);
+
+/* Send a argument byte. */
+void
+proto_arg (uint8_t a);
+
+/** Send a command, generic function. */
+void
+proto_send (uint8_t cmd, uint8_t size, uint8_t *args);
+
+/* -AutoDec */
+
+#include "proto_inline.c"
+
+#endif /* proto_h */
diff --git a/n/avr/modules/proto/proto.txt b/n/avr/modules/proto/proto.txt
new file mode 100644
index 0000000..51ded0a
--- /dev/null
+++ b/n/avr/modules/proto/proto.txt
@@ -0,0 +1,80 @@
+*Title: Module AVR Protocole série
+*Author: Ni
+
+* Principe
+
+Ce module s'occupe de gérer le protocole de communication sur une ligne de type
+port série. Il propose un service de décodage et un service d'encodage.
+
+Pour utiliser le décodage, il suffit d'appeler une fonctions à chaque
+caractère reçu. Si une commande a été reçu, ou en cas d'erreur, elle appelle
+une fonction définie par l'utilisateur avec pour paramètres les informations
+sur la commande reçue.
+
+Pour utiliser l'encodage, il suffit d'appeler une fonction émission avec
+les paramètres que l'on veux envoyer.
+
+* Protocole
+
+Le protocole de communication est basé sur des trames. Chaque trame commence
+par un point d'exclamation et se termine par un retour chariot. Tout ce qui
+n'est pas entouré de ces caractères est ignoré.
+
+Le point d'exclamation est directement suivi de la commande. La commande est
+un caractère alphabétique minuscule ou majuscule.
+
+Après la commande vient une liste de d'arguments. Les arguments sont codés en
+hexadécimal.
+
+Par exemple :
+
+^<<
+!z
+!v03f5
+!c0094ffa8
+^>>
+
+On peut aussi envoyer directement un caractère ascii en paramètre en le
+précédant d'une apostrophe.
+
+Par exemple :
+
+^<<
+!p'sa800
+^>>
+
+* Vérification d'erreur
+
+La vérification d'erreur n'est pas forcée par l'utilisation de ce module. En
+règle générale, on utilisera le fonctionnement suivant :
+
+ * pour un message fiable, le périphérique doit retourner la commande
+ dès réception ;
+ * pour un message non-fiable, le périphérique ne retourne rien.
+
+Par message non-fiable, on entend un message qui arrive en permanence, et dont
+l'on a pas besoin de vérifier la bonne réception. En effet, une valeur plus à
+jour est préférable à une réémission.
+
+Seul le périphérique renvois des messages de vérification ou des messages
+d'erreur. Le protocole d'échange doit être prévu en prenant cela en compte. Il
+n'est par exemple pas conseillé de déclencher des messages non demandé depuis
+le périphérique, en effet, il n'y a aucun moyen de vérifier s'il est arrivé
+correctement. Des messages envoyés sous l'initiative du périphérique doivent
+donc être des messages périodiques, pas événementiels.
+
+* Utilisation
+
+On doit définir une fonction de callback afin de traiter les messages arrivant
+et une fonction d'envois de caractère utilisée dans les fonctions d'envois. Le
+nom de ces deux fonctions est défini dans |avrconfig.h|
+
+Pour chaque caractère reçu, on appelle |proto_accept|. Pour envoyer des
+commandes, on utilise les fonctions |proto_send...|.
+
+Regarder le programme de test pour avoir un example.
+
+* Doc
+
+*File: proto.exd
+*File: proto_inline.exd
diff --git a/n/avr/modules/proto/proto_inline.c b/n/avr/modules/proto/proto_inline.c
new file mode 100644
index 0000000..262676f
--- /dev/null
+++ b/n/avr/modules/proto/proto_inline.c
@@ -0,0 +1,303 @@
+/* proto_inline.c */
+/* {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2005.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: 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 "modules/utils/byte.h"
+
+/* Send a command with no argument. */
+extern inline void
+proto_send0 (uint8_t cmd)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 1 byte argument. */
+extern inline void
+proto_send1b (uint8_t cmd, uint8_t arg0)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (arg0);
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 1 word argument. */
+extern inline void
+proto_send1w (uint8_t cmd, uint16_t arg0)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v16_to_v8 (arg0, 1));
+ proto_arg (v16_to_v8 (arg0, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 1 double word argument. */
+extern inline void
+proto_send1d (uint8_t cmd, uint32_t arg0)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v32_to_v8 (arg0, 3));
+ proto_arg (v32_to_v8 (arg0, 2));
+ proto_arg (v32_to_v8 (arg0, 1));
+ proto_arg (v32_to_v8 (arg0, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 2 bytes arguments. */
+extern inline void
+proto_send2b (uint8_t cmd, uint8_t arg0, uint8_t arg1)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (arg0);
+ proto_arg (arg1);
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 2 words arguments. */
+extern inline void
+proto_send2w (uint8_t cmd, uint16_t arg0, uint16_t arg1)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v16_to_v8 (arg0, 1));
+ proto_arg (v16_to_v8 (arg0, 0));
+ proto_arg (v16_to_v8 (arg1, 1));
+ proto_arg (v16_to_v8 (arg1, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 2 double words arguments. */
+extern inline void
+proto_send2d (uint8_t cmd, uint32_t arg0, uint32_t arg1)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v32_to_v8 (arg0, 3));
+ proto_arg (v32_to_v8 (arg0, 2));
+ proto_arg (v32_to_v8 (arg0, 1));
+ proto_arg (v32_to_v8 (arg0, 0));
+ proto_arg (v32_to_v8 (arg1, 3));
+ proto_arg (v32_to_v8 (arg1, 2));
+ proto_arg (v32_to_v8 (arg1, 1));
+ proto_arg (v32_to_v8 (arg1, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 3 bytes arguments. */
+extern inline void
+proto_send3b (uint8_t cmd, uint8_t arg0, uint8_t arg1, uint8_t arg2)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (arg0);
+ proto_arg (arg1);
+ proto_arg (arg2);
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 3 words arguments. */
+extern inline void
+proto_send3w (uint8_t cmd, uint16_t arg0, uint16_t arg1, uint16_t arg2)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v16_to_v8 (arg0, 1));
+ proto_arg (v16_to_v8 (arg0, 0));
+ proto_arg (v16_to_v8 (arg1, 1));
+ proto_arg (v16_to_v8 (arg1, 0));
+ proto_arg (v16_to_v8 (arg2, 1));
+ proto_arg (v16_to_v8 (arg2, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 3 double words arguments. */
+extern inline void
+proto_send3d (uint8_t cmd, uint32_t arg0, uint32_t arg1, uint32_t arg2)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v32_to_v8 (arg0, 3));
+ proto_arg (v32_to_v8 (arg0, 2));
+ proto_arg (v32_to_v8 (arg0, 1));
+ proto_arg (v32_to_v8 (arg0, 0));
+ proto_arg (v32_to_v8 (arg1, 3));
+ proto_arg (v32_to_v8 (arg1, 2));
+ proto_arg (v32_to_v8 (arg1, 1));
+ proto_arg (v32_to_v8 (arg1, 0));
+ proto_arg (v32_to_v8 (arg2, 3));
+ proto_arg (v32_to_v8 (arg2, 2));
+ proto_arg (v32_to_v8 (arg2, 1));
+ proto_arg (v32_to_v8 (arg2, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 4 bytes arguments. */
+extern inline void
+proto_send4b (uint8_t cmd, uint8_t arg0, uint8_t arg1, uint8_t arg2, uint8_t
+ arg3)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (arg0);
+ proto_arg (arg1);
+ proto_arg (arg2);
+ proto_arg (arg3);
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 4 words arguments. */
+extern inline void
+proto_send4w (uint8_t cmd, uint16_t arg0, uint16_t arg1, uint16_t arg2,
+ uint16_t arg3)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v16_to_v8 (arg0, 1));
+ proto_arg (v16_to_v8 (arg0, 0));
+ proto_arg (v16_to_v8 (arg1, 1));
+ proto_arg (v16_to_v8 (arg1, 0));
+ proto_arg (v16_to_v8 (arg2, 1));
+ proto_arg (v16_to_v8 (arg2, 0));
+ proto_arg (v16_to_v8 (arg3, 1));
+ proto_arg (v16_to_v8 (arg3, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 4 double words arguments. */
+extern inline void
+proto_send4d (uint8_t cmd, uint32_t arg0, uint32_t arg1, uint32_t arg2,
+ uint32_t arg3)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v32_to_v8 (arg0, 3));
+ proto_arg (v32_to_v8 (arg0, 2));
+ proto_arg (v32_to_v8 (arg0, 1));
+ proto_arg (v32_to_v8 (arg0, 0));
+ proto_arg (v32_to_v8 (arg1, 3));
+ proto_arg (v32_to_v8 (arg1, 2));
+ proto_arg (v32_to_v8 (arg1, 1));
+ proto_arg (v32_to_v8 (arg1, 0));
+ proto_arg (v32_to_v8 (arg2, 3));
+ proto_arg (v32_to_v8 (arg2, 2));
+ proto_arg (v32_to_v8 (arg2, 1));
+ proto_arg (v32_to_v8 (arg2, 0));
+ proto_arg (v32_to_v8 (arg3, 3));
+ proto_arg (v32_to_v8 (arg3, 2));
+ proto_arg (v32_to_v8 (arg3, 1));
+ proto_arg (v32_to_v8 (arg3, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 5 bytes arguments. */
+extern inline void
+proto_send5b (uint8_t cmd, uint8_t arg0, uint8_t arg1, uint8_t arg2,
+ uint8_t arg3, uint8_t arg4)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (arg0);
+ proto_arg (arg1);
+ proto_arg (arg2);
+ proto_arg (arg3);
+ proto_arg (arg4);
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 5 words arguments. */
+extern inline void
+proto_send5w (uint8_t cmd, uint16_t arg0, uint16_t arg1, uint16_t arg2,
+ uint16_t arg3, uint16_t arg4)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (v16_to_v8 (arg0, 1));
+ proto_arg (v16_to_v8 (arg0, 0));
+ proto_arg (v16_to_v8 (arg1, 1));
+ proto_arg (v16_to_v8 (arg1, 0));
+ proto_arg (v16_to_v8 (arg2, 1));
+ proto_arg (v16_to_v8 (arg2, 0));
+ proto_arg (v16_to_v8 (arg3, 1));
+ proto_arg (v16_to_v8 (arg3, 0));
+ proto_arg (v16_to_v8 (arg4, 1));
+ proto_arg (v16_to_v8 (arg4, 0));
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 6 bytes arguments. */
+extern inline void
+proto_send6b (uint8_t cmd, uint8_t arg0, uint8_t arg1, uint8_t arg2,
+ uint8_t arg3, uint8_t arg4, uint8_t arg5)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (arg0);
+ proto_arg (arg1);
+ proto_arg (arg2);
+ proto_arg (arg3);
+ proto_arg (arg4);
+ proto_arg (arg5);
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 7 bytes arguments. */
+extern inline void
+proto_send7b (uint8_t cmd, uint8_t arg0, uint8_t arg1, uint8_t arg2,
+ uint8_t arg3, uint8_t arg4, uint8_t arg5, uint8_t arg6)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (arg0);
+ proto_arg (arg1);
+ proto_arg (arg2);
+ proto_arg (arg3);
+ proto_arg (arg4);
+ proto_arg (arg5);
+ proto_arg (arg6);
+ AC_PROTO_PUTC ('\r');
+}
+
+/* Send a command with 8 bytes arguments. */
+extern inline void
+proto_send8b (uint8_t cmd,
+ uint8_t arg0, uint8_t arg1, uint8_t arg2, uint8_t arg3,
+ uint8_t arg4, uint8_t arg5, uint8_t arg6, uint8_t arg7)
+{
+ AC_PROTO_PUTC ('!');
+ AC_PROTO_PUTC (cmd);
+ proto_arg (arg0);
+ proto_arg (arg1);
+ proto_arg (arg2);
+ proto_arg (arg3);
+ proto_arg (arg4);
+ proto_arg (arg5);
+ proto_arg (arg6);
+ proto_arg (arg7);
+ AC_PROTO_PUTC ('\r');
+}
+
diff --git a/n/avr/modules/proto/test/Makefile b/n/avr/modules/proto/test/Makefile
new file mode 100644
index 0000000..a1506be
--- /dev/null
+++ b/n/avr/modules/proto/test/Makefile
@@ -0,0 +1,17 @@
+BASE = ../../..
+PROGS = test_proto
+test_proto_SOURCES = test_proto.c
+DOC =
+EXTRACTDOC =
+MODULES = proto uart utils
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega8
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+DEFS =
+LIBS =
+
+include $(BASE)/make/Makefile.gen
diff --git a/n/avr/modules/proto/test/avrconfig.h b/n/avr/modules/proto/test/avrconfig.h
new file mode 100644
index 0000000..08d7418
--- /dev/null
+++ b/n/avr/modules/proto/test/avrconfig.h
@@ -0,0 +1,81 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.proto - Protocol AVR module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 0
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 115200
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL WAIT
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART0_SEND_BUFFER_FULL WAIT
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+#endif /* avrconfig_h */
diff --git a/n/avr/modules/proto/test/test_proto.c b/n/avr/modules/proto/test/test_proto.c
new file mode 100644
index 0000000..3b7e535
--- /dev/null
+++ b/n/avr/modules/proto/test/test_proto.c
@@ -0,0 +1,83 @@
+/* test_proto.c */
+/* {{{
+ *
+ * Copyright (C) 2004 Nicolas Schodet
+ *
+ * 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.
+ *
+ * Contact :
+ * Web: http://perso.efrei.fr/~schodet/
+ * Email: <contact@ni.fr.eu.org>
+ * }}} */
+#include "common.h"
+#include "io.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+#include "modules/utils/utils.h"
+
+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 ('a', 1):
+ case c ('a', 4):
+ case c ('b', 2):
+ case c ('c', 3):
+ case c ('d', 4):
+ case c ('e', 5):
+ case c ('f', 6):
+ case c ('g', 7):
+ case c ('h', 8):
+ /* Accepts some command, and test some commands. */
+ proto_send1b ('e', 0xf0);
+ proto_send2w ('l', 0x1234, 0x5678);
+ proto_send1d ('o', 0x12345678);
+ {
+ volatile uint32_t i = 0x12345678;
+ proto_send1d ('i', i);
+ }
+ 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 (void)
+{
+ sei ();
+ uart0_init ();
+ /* This command should be generaly sent on reset. */
+ printf ("reset\n");
+ proto_send0 ('z');
+ /* This is to accept commands. */
+ while (1)
+ {
+ uint8_t c = uart0_getc ();
+ proto_accept (c);
+ }
+}
diff --git a/n/avr/modules/proto/utils/protodec b/n/avr/modules/proto/utils/protodec
new file mode 100755
index 0000000..bc4c77e
--- /dev/null
+++ b/n/avr/modules/proto/utils/protodec
@@ -0,0 +1,103 @@
+#!/usr/bin/perl -w
+use strict;
+
+sub syntax
+{
+ print <<EOF;
+$0 - Décodeur de protocol série pour le robot.
+Syntaxe : $0 code [colonnes] [code [colonnes] ...
+Exemple : $0 l 1 2u 3-4 m 1-2.8
+décode pour les codes l et m. Pour l, décode la première colonne en 8 bits, la
+deuxième en 8 bits non signés, les troisième et quatrième en 16 bits. Pour m,
+décode la première et deuxième en 16 bits, virgule fixe à 8 bits derrière la
+virgule.
+EOF
+ exit 1;
+}
+
+# Convert hexa to unsigned.
+sub cvhexu
+{
+ my $h = join '', @_;
+ return hex $h;
+}
+
+# Convert hexa to signed.
+sub cvhex
+{
+ my $h = cvhexu @_;
+ my $b = 8 * scalar @_;
+ if ($h >= 2 ** ($b - 1)) {
+ return -(2 ** $b - $h);
+ } else {
+ return $h;
+ }
+}
+
+# Process one proto packet.
+sub prcmd
+{
+ my ($cmd, $c, @v) = @_;
+ # Return if not wanted.
+ return unless exists $$cmd{$c};
+ print $c;
+ # Print each args.
+ for (@{$$cmd{$c}})
+ {
+ /^(\d+)-(\d+)(?:\.(\d+))?(u?)$/o;
+ my $fp = 0;
+ $fp = $3 if $3;
+ if ($4 eq 'u') {
+ print ' ', (cvhexu @v[$1 - 1 .. $2 - 1]) / (1 << $fp);
+ } else {
+ print ' ', (cvhex @v[$1 - 1 .. $2 - 1]) / (1 << $fp);
+ }
+ }
+ print "\n";
+};
+
+# Read command line.
+my %cmd;
+my ($acmd, @acmdl);
+
+while ($_ = shift)
+{
+ # Command char.
+ /^[a-zA-Z]$/ and do {
+ $cmd{$acmd} = [ @acmdl ] if defined $acmd;
+ @acmdl = ();
+ $acmd = $_;
+ next;
+ };
+ # Single arg.
+ /^(\d+)(\.\d+)?(u?)$/ and do {
+ syntax if !defined $acmd;
+ push @acmdl, "$1-$1$2";
+ next;
+ };
+ # Range arg.
+ /^(\d+)-(\d+)(\.\d+)?(u?)$/ and do {
+ syntax if !defined $acmd;
+ syntax if $2 <= $1;
+ push @acmdl, $_;
+ next;
+ };
+ syntax;
+}
+$cmd{$acmd} = [ @acmdl ] if defined $acmd;
+
+syntax if !scalar %cmd;
+
+# For each line.
+while (<>)
+{
+ chomp;
+ # Match a proto packet.
+ if (/^!([a-zA-Z])(?:[a-f0-9]{2})*$/o)
+ {
+ my $c = $1;
+ s/^!([a-zA-Z])//;
+ my @args = /[a-f0-9]{2}/og;
+ prcmd \%cmd, $c, @args;
+ }
+}