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-rw-r--r--digital/asserv/src/asserv/twi_proto.c169
1 files changed, 169 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/twi_proto.c b/digital/asserv/src/asserv/twi_proto.c
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+/* twi_proto.c - Implement the protocol over TWI. */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2008 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 "twi_proto.h"
+#include "modules/utils/utils.h"
+#include "modules/utils/byte.h"
+#include "modules/twi/twi.h"
+
+struct twi_proto_t
+{
+ u8 seq;
+};
+
+struct twi_proto_t twi_proto;
+
+/** Initialise. */
+void
+twi_proto_init (void)
+{
+ twi_init (AV_ASSERV_TWI_ADDRESS);
+ twi_proto_update ();
+}
+
+/** Handle received commands and update status. */
+void
+twi_proto_update (void)
+{
+ u8 buf[TWI_SL_RCPT_SIZE];
+ /* Handle incoming command. */
+ while (twi_sl_poll (buf, sizeof (buf)))
+ twi_proto_callback (buf, sizeof (buf));
+ /* Update status. */
+ u8 status[12];
+ status[0] = 0;
+ status[1] = twi_proto.seq;
+ status[2] = v32_to_v8 (0, 3);
+ status[3] = v32_to_v8 (0, 2);
+ status[4] = v32_to_v8 (0, 1);
+ status[5] = v32_to_v8 (0, 3);
+ status[6] = v32_to_v8 (0, 2);
+ status[7] = v32_to_v8 (0, 1);
+ status[8] = v32_to_v8 (0, 2);
+ status[9] = v32_to_v8 (0, 1);
+ status[10] = v16_to_v8 (0, 1);
+ status[11] = v16_to_v8 (0, 0);
+ twi_sl_update (status, sizeof (status));
+}
+
+/** Handle one command. */
+void
+twi_proto_callback (u8 *buf, u8 size)
+{
+#define c(cmd, size) (cmd)
+ switch (c (buf[1], 0))
+ {
+ case c ('z', 0):
+ /* Reset. */
+ utils_reset ();
+ break;
+ case c ('w', 0):
+ /* Set zero pwm. */
+ break;
+ case c ('s', 0):
+ /* Stop (set zero speed). */
+ break;
+ case c ('l', 3):
+ /* Set linear speed controlled position consign.
+ * - 3b: theta consign offset. */
+ break;
+ case c ('a', 2):
+ /* Set linear speed controlled position consign.
+ * - w: theta consign offset. */
+ break;
+ case c ('f', 0):
+ /* Go to the wall. */
+ break;
+ case c ('F', 0):
+ /* Go to the dispenser. */
+ break;
+ case c ('b', 3):
+ /* Move the arm.
+ * - w: new position.
+ * - b: speed. */
+ break;
+ case c ('p', x):
+ /* Set parameters. */
+ if (twi_proto_params (&buf[2], size - 2) != 0)
+ buf[0] = 0;
+ break;
+ default:
+ buf[0] = 0;
+ break;
+ }
+ /* Acknowledge. */
+ twi_proto.seq = buf[0];
+}
+
+/* Handle a parameter list of change. */
+u8
+twi_proto_params (u8 *buf, u8 size)
+{
+ u8 eat;
+ while (*buf && size)
+ {
+ size--;
+ switch (*buf++)
+ {
+ case 'X':
+ /* Set current X position.
+ * - 3b: X position. */
+ if (size < 3)
+ return 1;
+ eat = 3;
+ break;
+ case 'Y':
+ /* Set current Y position.
+ * - 3b: Y position. */
+ if (size < 3)
+ return 1;
+ eat = 3;
+ break;
+ case 'A':
+ /* Set current angle.
+ * - w: angle. */
+ if (size < 2)
+ return 1;
+ eat = 2;
+ break;
+ case 's':
+ /* Set maximum and slow speed.
+ * - b: theta max.
+ * - b: alpha max.
+ * - b: theta slow.
+ * - b: alpha slow. */
+ if (size < 4)
+ return 1;
+ eat = 4;
+ break;
+ default:
+ return 1;
+ }
+ buf += eat;
+ size -= eat;
+ }
+ return 0;
+}
+