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-rw-r--r--digital/mimot/src/dirty/twi_proto.c173
1 files changed, 173 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/twi_proto.c b/digital/mimot/src/dirty/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/utils/crc.h"
+#include "modules/twi/twi.h"
+#include "io.h"
+
+#include "state.h"
+
+#include "pwm.h"
+#include "pos.h"
+#include "speed.h"
+#include "aux.h"
+
+#ifdef HOST
+# include "simu.host.h"
+#endif
+
+struct twi_proto_t
+{
+ u8 seq;
+};
+
+struct twi_proto_t twi_proto;
+
+static void
+twi_proto_callback (u8 *buf, u8 size);
+
+static u8
+twi_proto_params (u8 *buf, u8 size);
+
+/** Initialise. */
+void
+twi_proto_init (void)
+{
+ twi_init (AC_ASSERV_TWI_ADDRESS);
+ twi_proto_update ();
+}
+
+/** Handle received commands and update status. */
+void
+twi_proto_update (void)
+{
+ u8 buf[AC_TWI_SL_RECV_BUFFER_SIZE];
+ u8 read_data;
+ /* Handle incoming command. */
+ while ((read_data = twi_sl_poll (buf, sizeof (buf))))
+ twi_proto_callback (buf, read_data);
+ /* Update status. */
+ u8 status_with_crc[8];
+ u8 *status = &status_with_crc[1];
+ status[0] = 0
+ | (state_aux[1].blocked << 3)
+ | (state_aux[1].finished << 2)
+ | (state_aux[0].blocked << 1)
+ | (state_aux[0].finished << 0);
+ status[1] = PINC;
+ status[2] = twi_proto.seq;
+ status[3] = v16_to_v8 (aux[0].pos, 1);
+ status[4] = v16_to_v8 (aux[0].pos, 0);
+ status[5] = v16_to_v8 (aux[1].pos, 1);
+ status[6] = v16_to_v8 (aux[1].pos, 0);
+ /* Compute CRC. */
+ status_with_crc[0] = crc_compute (&status_with_crc[1],
+ sizeof (status_with_crc) - 1);
+ twi_sl_update (status_with_crc, sizeof (status_with_crc));
+}
+
+/** Handle one command. */
+static void
+twi_proto_callback (u8 *buf, u8 size)
+{
+ /* Check CRC. */
+ if (crc_compute (buf + 1, size - 1) != buf[0])
+ return;
+ else
+ {
+ /* Remove the CRC of the buffer. */
+ buf += 1;
+ size -= 1;
+ }
+
+ if (buf[0] == twi_proto.seq)
+ return;
+#define c(cmd, size) (cmd)
+ switch (c (buf[1], 0))
+ {
+ case c ('z', 0):
+ /* Reset. */
+ utils_reset ();
+ break;
+ case c ('b', 3):
+ /* Move the aux0.
+ * - w: new position.
+ * - b: speed. */
+ speed_aux[0].max = buf[4];
+ aux_traj_goto_start (&aux[0], v8_to_v16 (buf[2], buf[3]), 0);
+ break;
+ case c ('B', 1):
+ /* Find the zero position of the aux0.
+ * - b: speed. */
+ aux_traj_find_zero_start (&aux[0], buf[2], 0);
+ break;
+ case c ('c', 3):
+ /* Move the aux1.
+ * - w: new position.
+ * - b: speed. */
+ speed_aux[1].max = buf[4];
+ aux_traj_goto_start (&aux[1], v8_to_v16 (buf[2], buf[3]), 0);
+ break;
+ case c ('C', 1):
+ /* Find the zero position of the aux1.
+ * - b: speed. */
+ aux_traj_find_zero_start (&aux[1], buf[2], 0);
+ 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. */
+static u8
+twi_proto_params (u8 *buf, u8 size)
+{
+ u8 eat;
+ while (*buf && size)
+ {
+ size--;
+ switch (*buf++)
+ {
+ default:
+ return 1;
+ }
+ buf += eat;
+ size -= eat;
+ }
+ return 0;
+}
+