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/Makefile.module | 1 + digital/avr/modules/devices/servo/README | 23 +++ digital/avr/modules/devices/servo/avrconfig.h | 33 ++++ digital/avr/modules/devices/servo/servo.avr.c | 193 +++++++++++++++++++++ digital/avr/modules/devices/servo/servo.h | 96 ++++++++++ digital/avr/modules/devices/servo/servo_pos.c | 60 +++++++ digital/avr/modules/devices/servo/servo_pos.h | 73 ++++++++ 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 +++++++++ 10 files changed, 668 insertions(+) create mode 100644 digital/avr/modules/devices/servo/Makefile.module create mode 100644 digital/avr/modules/devices/servo/README create mode 100644 digital/avr/modules/devices/servo/avrconfig.h create mode 100644 digital/avr/modules/devices/servo/servo.avr.c create mode 100644 digital/avr/modules/devices/servo/servo.h create mode 100644 digital/avr/modules/devices/servo/servo_pos.c create mode 100644 digital/avr/modules/devices/servo/servo_pos.h 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') diff --git a/digital/avr/modules/devices/servo/Makefile.module b/digital/avr/modules/devices/servo/Makefile.module new file mode 100644 index 00000000..bf82ffac --- /dev/null +++ b/digital/avr/modules/devices/servo/Makefile.module @@ -0,0 +1 @@ +devices_servo_SOURCES = servo_pos.c servo.avr.c diff --git a/digital/avr/modules/devices/servo/README b/digital/avr/modules/devices/servo/README new file mode 100644 index 00000000..4981de17 --- /dev/null +++ b/digital/avr/modules/devices/servo/README @@ -0,0 +1,23 @@ +avr.devices.servo - Servo AVR module. + +Servo module for AVR. See modules README for more details about AVR modules. + +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. diff --git a/digital/avr/modules/devices/servo/avrconfig.h b/digital/avr/modules/devices/servo/avrconfig.h new file mode 100644 index 00000000..d192598a --- /dev/null +++ b/digital/avr/modules/devices/servo/avrconfig.h @@ -0,0 +1,33 @@ +#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. + * + * }}} */ + +/* servo - Servo module. */ +/** All servos are currently connected to the same port. */ +#define AC_SERVO_PORT PORTA +#define AC_SERVO_DDR DDRA + +#endif /* avrconfig_h */ diff --git a/digital/avr/modules/devices/servo/servo.avr.c b/digital/avr/modules/devices/servo/servo.avr.c new file mode 100644 index 00000000..fc5adc78 --- /dev/null +++ b/digital/avr/modules/devices/servo/servo.avr.c @@ -0,0 +1,193 @@ +/* servo.avr.c */ +/* avr.devices.servo - Servo AVR module. {{{ + * + * Copyright (C) 2008 Dufour Jérémy + * + * 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 "servo.h" + +#include "modules/utils/utils.h" /* regv, set_bit */ +#include "modules/utils/byte.h" /* v16_to_v8 */ +#include "io.h" /* General defines of registers */ + +/** + * @defgroup ServoConfig Servo module configuration variables and defines. + * @{ + */ + +/** + * TOP of the timer/counter. + */ +#define SERVO_TCNT_TOP 0xFF + +/** + * Number of TIC the timer/counter need to do to make a whole cycle of servo + * update. + * It does not depend on the servo motors we manage but on the time we want a + * whole cycle to last. + * The formula used is: + * time_of_a_cycle * AVR_frequency / timer_counter_prescaler + * We want a time of 20ms (20/1000). + * See @a servo_init to know the prescaler value of the timer/counter. + */ +static const uint16_t servo_tic_cycle_ = AC_FREQ / 256 * 20 / 1000; + +/** @} */ + +/** + * @defgroup ServoPrivate Servo module private variables and functions + * declarations + * @{ + */ + +/** + * Identifier of the servo we are currently updating. + * Note: -1 is a special value used by the servo module system to update the + * low state of all the servos. + */ +volatile int8_t servo_updating_id_; + +/** + * A table for the time spent by each servo in high state. + */ +volatile uint8_t servo_position_[SERVO_NUMBER]; + +/** + * Overflow of timer/counter 2 handler. + */ +SIGNAL (SIG_OVERFLOW2); + +/** @} */ + +/* Initialize servo module. */ +void +servo_init (void) +{ + /* Set-up all the pins of the servo to out direction */ + AC_SERVO_DDR = 0xff; + /* All pins are at low state by default */ + + /* Set-up the timer/counter 2: + - prescaler 256 => 4.44 ms TOP */ + TCCR2 = regv (FOC2, WGM20, COM21, COM20, WGM21, CS22, CS21, CS20, + 0, 0, 0, 0, 0, 1, 0, 0); + + /* The state machine start with the first servo */ + servo_updating_id_ = 0; + + /* Enable overflow interrupt */ + set_bit (TIMSK, TOIE2); + + /* By default, servo init disable all servo. */ + uint8_t i; + for (i = 0; i < SERVO_NUMBER; i++) + servo_set_position (i, 0); +} + +/* Set the duration of the input signal at the high state of a servo. */ +void +servo_set_position (uint8_t servo, uint8_t position) +{ + uint8_t filtered = position; + if (filtered != 0) + UTILS_BOUND (filtered, SERVO_HIGH_TIME_MIN, SERVO_HIGH_TIME_MAX); + /* Sanity check */ + if (servo < SERVO_NUMBER) + /* Set new desired position (high value time) */ + servo_position_[servo] = filtered; +} + +/* Get the duration of the servo's input signal at high state. */ +uint8_t +servo_get_position (uint8_t servo) +{ + /* Sanity check */ + if (servo < SERVO_NUMBER) + return servo_position_[servo]; + return 0; +} + +/* Overflow of timer/counter 2 handler. */ +SIGNAL (SIG_OVERFLOW2) +{ + /* Overflow count (used when we wait in the lower state). + -1 is used for the first count where we wait less than a complete + overflow */ + static int8_t servo_overflow_count = -1; + /* Time spent by each servo motor at high state during a whole cycle */ + static uint16_t servo_position_cycle = servo_tic_cycle_; + + /* State machine actions */ + if (servo_updating_id_ >= 0) + { + /* Servos motor high state mode */ + + /* Set to low state the previous servo motor pin if needed (not for + * the first one) */ + if (servo_updating_id_ != 0) + AC_SERVO_PORT &= ~_BV (servo_updating_id_ - 1); + /* Set to high state the current servo motor pin, unless is zero */ + if (servo_position_[servo_updating_id_]) + set_bit (AC_SERVO_PORT, servo_updating_id_); + /* Plan next timer overflow to the TOP minus the current configuration + * of the servo motor */ + TCNT2 = SERVO_TCNT_TOP - servo_position_[servo_updating_id_]; + /* Update the time spent at high state by all servo motors for this + * cycle */ + servo_position_cycle += servo_position_[servo_updating_id_]; + /* Update the identifier of the current servo motor (and manage when + * we are at the last one) */ + if (++servo_updating_id_ == SERVO_NUMBER) + servo_updating_id_ = -1; + } + else + { + /* Sleeping time mode */ + + /* Is it the first we are in this mode? */ + if (servo_overflow_count == -1) + { + /* Set to low state the previous servo motor pin */ + AC_SERVO_PORT &= ~_BV (SERVO_NUMBER - 1); + /* Number of full overflow (from 0 to SERVO_TCNT_TOP) we need to + * wait (division by SERVO_TCNT_TOP or >> 8) */ + servo_overflow_count = servo_position_cycle >> 8; + /* Restart the counter from remaining TIC that are left and can + * not be used to make a full overflow */ + TCNT2 = SERVO_TCNT_TOP - v16_to_v8 (servo_position_cycle, 0); + } + else + { + /* We just have an overflow, are we at the last one needed? The -1 + * is normal: we do not count the first overflow of the sleeping + * mode because it is not a full one */ + if (--servo_overflow_count == -1) + { + /* Restart with first servo motor */ + servo_updating_id_ = 0; + /* Re-initialize the counter of time spent by each servo motor + * at high state */ + servo_position_cycle = servo_tic_cycle_; + } + } + } +} diff --git a/digital/avr/modules/devices/servo/servo.h b/digital/avr/modules/devices/servo/servo.h new file mode 100644 index 00000000..59d35907 --- /dev/null +++ b/digital/avr/modules/devices/servo/servo.h @@ -0,0 +1,96 @@ +#ifndef servo_h +#define servo_h +/* servo.h */ +/* avr.devices.servo - Servo AVR module. {{{ + * + * Copyright (C) 2008 Dufour Jérémy + * + * 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" // uint8_t + +/** + * @file Module to control servo motors. + * This module contains low-level functions to control the servo motors. If + * you want to control the traps to store the balls at a specific place, have + * a look at the trap module. + * It uses the timer/counter 2 (8-bit). + * + * Servo motors can be controlled by the time the input signal spend at its + * high state. For example, if the signal sent to the servo motor only spend + * 1ms at the high state, it will have a 0° angle position. If the signal + * stays for 1.5ms at high state, it will have a 90° angle position. + * To manage all servo motors in a "one time shot", we need to use the + * timer/counter 2 of the ATmega128 and its overflow. + * We setup the timer/counter to the value of its overflow minus the time the + * input signal of the servo need to spend at high state ; we put the input + * signal of this servo motor to the high value. When the timer overflows, we + * put it back to the low state. We go to the next servo motors and do the + * same algorithm. When the all servos motor have been taken care of, we + * set-up the timer to overflow a certain number of times to wait before + * restarting the whole cycle. + * + * All servos are connected to AC_SERVO_PORT defined in avrconfig.h + */ + +/** + * Number of servos motor managed by this module. + * If you change it, you _must_ update the key of the eeprom module! + */ +#define SERVO_NUMBER 8 + +/** + * Minimum high time for servos. + */ +#define SERVO_HIGH_TIME_MIN 0x24 + +/** + * Maximum high time for servos. + */ +#define SERVO_HIGH_TIME_MAX 0x88 + +/** + * Initialize servo module. + * This functions put the pins of the servos motor in the right direction, + * initialize the timer/counter 2 and some internals stuff. + */ +void +servo_init (void); + +/** + * Set the duration of the input signal of a servo at high state + * and thus its position. + * @param servo the servo to change the position. + * @param position the duration while the input signal will be at the + * high state. The servo will then move to a position. + * A zero will let the servo floating. + */ +void +servo_set_position (uint8_t servo, uint8_t position); + +/** + * Get the duration of the servo's input signal at high state. + * @param servo the servo to get the position of. + * @return the current position of the servo. + */ +uint8_t +servo_get_position (uint8_t servo); + +#endif /* servo_h */ diff --git a/digital/avr/modules/devices/servo/servo_pos.c b/digital/avr/modules/devices/servo/servo_pos.c new file mode 100644 index 00000000..6308ceaf --- /dev/null +++ b/digital/avr/modules/devices/servo/servo_pos.c @@ -0,0 +1,60 @@ +/* servo_pos.c */ +/* avr.devices.servo - Servo AVR module. {{{ + * + * Copyright (C) 2009 Dufour Jérémy + * + * 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 "servo_pos.h" + +uint8_t servo_pos_high_time[SERVO_NUMBER][SERVO_POS_NUMBER]; + +void +servo_pos_init (void) +{ + /* Initialize under layer, servo module. */ + servo_init (); +} + +void +servo_pos_set_high_time (uint8_t servo_id, + uint8_t high_times[SERVO_POS_NUMBER]) +{ + uint8_t i; + /* If servo exists. */ + if (servo_id < SERVO_NUMBER) + { + /* For each position. */ + for (i = 0; i < SERVO_POS_NUMBER; i++) + servo_pos_high_time[servo_id][i] = high_times[i]; + } +} + +/** + * Move a servo to a specific position. + * @param servo_id the id of the servo to move. + * @param position the position identifier where to move the servo. + */ +void +servo_pos_move_to (uint8_t servo_id, uint8_t position) +{ + servo_set_position (servo_id, servo_pos_high_time[servo_id][position]); +} diff --git a/digital/avr/modules/devices/servo/servo_pos.h b/digital/avr/modules/devices/servo/servo_pos.h new file mode 100644 index 00000000..e173ab6d --- /dev/null +++ b/digital/avr/modules/devices/servo/servo_pos.h @@ -0,0 +1,73 @@ +#ifndef servo_pos_h +#define servo_pos_h +/* servo.pos.h */ +/* avr.devices.servo - Servo AVR module. {{{ + * + * Copyright (C) 2009 Dufour Jérémy + * + * 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. + * + * }}} */ + +/** + * Module to control two positions of the servo motor. + * It's an higher interface that uses the servo module but remember the + * positions (for example, two positions, open and close) that they can take. + */ + +#include "servo.h" + +/** + * Number of positions the servo can take. + * @warning if you change this define, you must update the key value in the + * EEPROM module. Otherwise, everything will fail! + */ +#define SERVO_POS_NUMBER 2 + +/** + * Table to store the correspondence between the positions and the high time. + */ +extern uint8_t servo_pos_high_time[SERVO_NUMBER][SERVO_POS_NUMBER]; + +/** + * Initialize the servo with positions module. + * @note it also initialize the servo module for you. + */ +void +servo_pos_init (void); + +/** + * Set the high times of a servo for positions. + * @param servo_id the ID of the servo. + * @param high_times the different high times for the positions of the + * servo. + */ +void +servo_pos_set_high_time (uint8_t servo_id, + uint8_t high_times[SERVO_POS_NUMBER]); + +/** + * Move a servo to a specific position. + * @param servo_id the id of the servo to move. + * @param position the position identifier where to move the servo. + */ +void +servo_pos_move_to (uint8_t servo_id, uint8_t position); + +#endif /* servo_pos_h */ 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