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281 | giacomo | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Giacomo Guidi <giacomo@gandalf.sssup.it> |
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10 | * (see the web pages for full authors list) |
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11 | * |
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12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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13 | * |
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14 | * http://www.sssup.it |
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15 | * http://retis.sssup.it |
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16 | * http://shark.sssup.it |
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17 | */ |
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18 | |||
19 | /* |
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20 | * Copyright (C) 2002 Paolo Gai |
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21 | * |
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22 | * This program is free software; you can redistribute it and/or modify |
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23 | * it under the terms of the GNU General Public License as published by |
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24 | * the Free Software Foundation; either version 2 of the License, or |
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25 | * (at your option) any later version. |
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26 | * |
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27 | * This program is distributed in the hope that it will be useful, |
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28 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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29 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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30 | * GNU General Public License for more details. |
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31 | * |
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32 | * You should have received a copy of the GNU General Public License |
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33 | * along with this program; if not, write to the Free Software |
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34 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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35 | * |
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36 | */ |
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37 | |||
38 | #include <ll/sys/ll/ll-instr.h> |
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39 | #include "servo.h" |
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40 | |||
41 | #define THR 0 |
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42 | #define RBR 0 |
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43 | #define IER 1 |
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44 | #define FCR 2 |
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45 | #define IIR 2 |
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46 | #define LCR 3 |
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47 | #define MCR 4 |
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48 | #define LSR 5 |
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49 | #define MSR 6 |
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50 | #define SPad 7 |
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51 | |||
52 | #define barrier() __asm__ __volatile__("" ::: "memory"); |
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53 | |||
54 | #define TIMEOUT 100000 /* us */ |
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55 | |||
56 | int timer_expired = 0; |
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57 | unsigned com_base[] = {0x03F8,0x02F8,0x03E8,0x02E8}; |
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58 | |||
59 | void set_timer_expired(void) |
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60 | { |
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61 | |||
62 | timer_expired = 1; |
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63 | |||
64 | } |
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65 | |||
66 | unsigned com_read(unsigned port,unsigned reg) |
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67 | { |
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68 | unsigned b; |
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69 | if (port > 3 || reg > 7) return(0); |
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70 | b = ll_in(com_base[port]+reg); |
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71 | return(b); |
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72 | } |
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73 | |||
74 | void com_write(unsigned port,unsigned reg,unsigned value) |
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75 | { |
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76 | if (port > 3 || reg > 7) return; |
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77 | ll_out(com_base[port]+reg,value); |
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78 | } |
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79 | |||
80 | int com_send(unsigned port,BYTE b) |
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81 | { |
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82 | while ((com_read(port,LSR) & 32) == 0 && !timer_expired) |
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83 | barrier(); |
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84 | if (!timer_expired) { |
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85 | com_write(port,THR,b); |
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86 | return 0; |
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87 | } else { |
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88 | return -1; |
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89 | } |
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90 | } |
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91 | |||
92 | int com_receive(unsigned port) |
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93 | { |
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94 | while ((com_read(port,LSR) & 1) == 0 && !timer_expired) |
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95 | barrier(); |
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96 | if (!timer_expired) { |
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97 | return((int)(com_read(port,RBR))); |
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98 | } else { |
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99 | return -1; |
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100 | } |
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101 | } |
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102 | |||
103 | int servo_set_RS232_baudrate(int baud) |
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104 | { |
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105 | |||
106 | |||
107 | return 0; |
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108 | |||
109 | } |
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110 | |||
111 | int servo_get_RS232_baudrate(void) |
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112 | { |
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113 | |||
114 | return 0; |
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115 | |||
116 | } |
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117 | |||
118 | int servo_store_RS232_buadrate(void) |
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119 | { |
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120 | |||
121 | return 0; |
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122 | |||
123 | } |
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124 | |||
125 | int servo_set_period(int period) |
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126 | { |
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127 | |||
128 | return 0; |
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129 | |||
130 | } |
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131 | |||
132 | int servo_get_period(void) |
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133 | { |
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134 | |||
135 | return 0; |
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136 | |||
137 | } |
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138 | |||
139 | int servo_store_period(void) |
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140 | { |
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141 | |||
142 | return 0; |
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143 | |||
144 | } |
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145 | |||
146 | int servo_get_setup_switch(void) |
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147 | { |
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148 | |||
149 | return 0; |
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150 | |||
151 | } |
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152 | |||
153 | int servo_set_RC5_switch(int data) |
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154 | { |
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155 | |||
156 | return 0; |
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157 | |||
158 | } |
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159 | |||
160 | |||
161 | int servo_set_angle(int servo, int angle) |
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162 | { |
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163 | |||
164 | return 0; |
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165 | |||
166 | } |
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167 | |||
168 | int servo_get_angle(int servo) |
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169 | { |
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170 | |||
171 | return 0; |
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172 | |||
173 | } |
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174 | |||
175 | int servo_get_analog(int port) |
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176 | { |
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177 | |||
178 | return 0; |
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179 | |||
180 | } |
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181 |