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authorMaxime Hadjinlian2011-05-29 14:20:56 +0200
committerNicolas Schodet2011-05-29 14:20:56 +0200
commit2700442e8ecb331844687e349f5b20162a008b27 (patch)
treecfa705bfee61d849756022b2c9cbff59a6470bb0 /digital/avr/modules/devices/servo/test
parent13ad47d0242573e0212c328d38538d17e7e0fb2b (diff)
digital/avr/module: add module servo from digital/io/src
Diffstat (limited to 'digital/avr/modules/devices/servo/test')
-rw-r--r--digital/avr/modules/devices/servo/test/Makefile12
-rw-r--r--digital/avr/modules/devices/servo/test/avrconfig.h91
-rw-r--r--digital/avr/modules/devices/servo/test/test_servo.c86
3 files changed, 189 insertions, 0 deletions
diff --git a/digital/avr/modules/devices/servo/test/Makefile b/digital/avr/modules/devices/servo/test/Makefile
new file mode 100644
index 00000000..a0ad639f
--- /dev/null
+++ b/digital/avr/modules/devices/servo/test/Makefile
@@ -0,0 +1,12 @@
+BASE = ../../../..
+AVR_PROGS = test_servo
+test_servo_SOURCES = test_servo.c
+MODULES = proto devices/servo uart utils
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega128
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/devices/servo/test/avrconfig.h b/digital/avr/modules/devices/servo/test/avrconfig.h
new file mode 100644
index 00000000..6ee81392
--- /dev/null
+++ b/digital/avr/modules/devices/servo/test/avrconfig.h
@@ -0,0 +1,91 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.devices.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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* servo - Servo module. */
+/** All servos are currently connected to the same port. */
+#define AC_SERVO_PORT PORTA
+#define AC_SERVO_DDR DDRA
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** 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 DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** 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_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* 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/digital/avr/modules/devices/servo/test/test_servo.c b/digital/avr/modules/devices/servo/test/test_servo.c
new file mode 100644
index 00000000..924fae1c
--- /dev/null
+++ b/digital/avr/modules/devices/servo/test/test_servo.c
@@ -0,0 +1,86 @@
+/* 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.
+ */
+ }
+}