From 2700442e8ecb331844687e349f5b20162a008b27 Mon Sep 17 00:00:00 2001 From: Maxime Hadjinlian Date: Sun, 29 May 2011 14:20:56 +0200 Subject: digital/avr/module: add module servo from digital/io/src --- digital/avr/modules/devices/servo/test/Makefile | 12 +++ digital/avr/modules/devices/servo/test/avrconfig.h | 91 ++++++++++++++++++++++ .../avr/modules/devices/servo/test/test_servo.c | 86 ++++++++++++++++++++ 3 files changed, 189 insertions(+) create mode 100644 digital/avr/modules/devices/servo/test/Makefile create mode 100644 digital/avr/modules/devices/servo/test/avrconfig.h create mode 100644 digital/avr/modules/devices/servo/test/test_servo.c (limited to 'digital/avr/modules/devices/servo/test') 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. + */ + } +} -- cgit v1.2.3