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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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282 | giacomo | 39 | #include "kernel/kern.h" |
281 | giacomo | 40 | #include "servo.h" |
41 | |||
42 | #define THR 0 |
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43 | #define RBR 0 |
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44 | #define IER 1 |
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45 | #define FCR 2 |
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46 | #define IIR 2 |
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47 | #define LCR 3 |
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48 | #define MCR 4 |
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49 | #define LSR 5 |
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50 | #define MSR 6 |
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51 | #define SPad 7 |
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52 | |||
53 | #define barrier() __asm__ __volatile__("" ::: "memory"); |
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54 | |||
282 | giacomo | 55 | #define SERVO_TIMEOUT 100000 /* us */ |
281 | giacomo | 56 | |
282 | giacomo | 57 | #define SERVO_PORT 1 |
58 | |||
281 | giacomo | 59 | int timer_expired = 0; |
60 | unsigned com_base[] = {0x03F8,0x02F8,0x03E8,0x02E8}; |
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61 | |||
282 | giacomo | 62 | void set_timer_expired(void *arg) |
281 | giacomo | 63 | { |
64 | |||
65 | timer_expired = 1; |
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66 | |||
67 | } |
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68 | |||
69 | unsigned com_read(unsigned port,unsigned reg) |
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70 | { |
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71 | unsigned b; |
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72 | if (port > 3 || reg > 7) return(0); |
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73 | b = ll_in(com_base[port]+reg); |
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74 | return(b); |
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75 | } |
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76 | |||
77 | void com_write(unsigned port,unsigned reg,unsigned value) |
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78 | { |
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79 | if (port > 3 || reg > 7) return; |
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80 | ll_out(com_base[port]+reg,value); |
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81 | } |
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82 | |||
83 | int com_send(unsigned port,BYTE b) |
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84 | { |
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85 | while ((com_read(port,LSR) & 32) == 0 && !timer_expired) |
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86 | barrier(); |
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87 | if (!timer_expired) { |
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88 | com_write(port,THR,b); |
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89 | return 0; |
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90 | } else { |
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91 | return -1; |
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92 | } |
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93 | } |
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94 | |||
95 | int com_receive(unsigned port) |
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96 | { |
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97 | while ((com_read(port,LSR) & 1) == 0 && !timer_expired) |
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98 | barrier(); |
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99 | if (!timer_expired) { |
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100 | return((int)(com_read(port,RBR))); |
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101 | } else { |
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102 | return -1; |
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103 | } |
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104 | } |
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105 | |||
106 | int servo_set_RS232_baudrate(int baud) |
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107 | { |
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108 | |||
109 | |||
110 | return 0; |
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111 | |||
112 | } |
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113 | |||
114 | int servo_get_RS232_baudrate(void) |
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115 | { |
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116 | |||
117 | return 0; |
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118 | |||
119 | } |
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120 | |||
121 | int servo_store_RS232_buadrate(void) |
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122 | { |
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123 | |||
124 | return 0; |
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125 | |||
126 | } |
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127 | |||
128 | int servo_set_period(int period) |
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129 | { |
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130 | |||
131 | return 0; |
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132 | |||
133 | } |
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134 | |||
135 | int servo_get_period(void) |
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136 | { |
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137 | |||
138 | return 0; |
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139 | |||
140 | } |
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141 | |||
142 | int servo_store_period(void) |
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143 | { |
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144 | |||
145 | return 0; |
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146 | |||
147 | } |
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148 | |||
149 | int servo_get_setup_switch(void) |
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150 | { |
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151 | |||
152 | return 0; |
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153 | |||
154 | } |
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155 | |||
156 | int servo_set_RC5_switch(int data) |
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157 | { |
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158 | |||
159 | return 0; |
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160 | |||
161 | } |
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162 | |||
282 | giacomo | 163 | /* 0000.0ppp:0000.vvvv:vvvv.vvvv */ |
281 | giacomo | 164 | int servo_set_angle(int servo, int angle) |
165 | { |
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166 | |||
282 | giacomo | 167 | struct timespec current_time; |
168 | unsigned char b; |
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169 | int err,timeout_event; |
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170 | |||
171 | if (servo > 7) return -1; |
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172 | |||
173 | timer_expired = 0; |
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174 | kern_gettime(¤t_time); |
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175 | ADDUSEC2TIMESPEC(SERVO_TIMEOUT,¤t_time); |
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176 | timeout_event = kern_event_post(¤t_time, set_timer_expired, NULL); |
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177 | |||
178 | b = 0x00 | (servo & 0x07); |
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179 | err = com_send(SERVO_PORT, b); |
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180 | err = com_receive(SERVO_PORT); |
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181 | if (err != (int)(b)) return -1; |
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182 | |||
183 | b = 0x00 | ((angle >> 8) & 0x0F); |
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184 | err = com_send(SERVO_PORT, b); |
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185 | err = com_receive(SERVO_PORT); |
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186 | if (err != (int)(b)) return -1; |
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187 | |||
188 | b = 0x00 | (angle & 0xFF); |
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189 | err = com_send(SERVO_PORT, b); |
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190 | err = com_receive(SERVO_PORT); |
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191 | if (err != (int)(b)) return -1; |
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192 | |||
193 | kern_event_delete(timeout_event); |
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194 | |||
281 | giacomo | 195 | return 0; |
196 | |||
197 | } |
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198 | |||
282 | giacomo | 199 | /* 0000.1ppp */ |
281 | giacomo | 200 | int servo_get_angle(int servo) |
201 | { |
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202 | |||
282 | giacomo | 203 | struct timespec current_time; |
204 | unsigned char b; |
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205 | int err,res,timeout_event; |
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206 | |||
207 | if (servo > 7) return -1; |
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208 | |||
209 | timer_expired = 0; |
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210 | kern_gettime(¤t_time); |
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211 | ADDUSEC2TIMESPEC(SERVO_TIMEOUT,¤t_time); |
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212 | timeout_event = kern_event_post(¤t_time, set_timer_expired, NULL); |
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281 | giacomo | 213 | |
282 | giacomo | 214 | b = 0x08 | (servo & 0x07); |
215 | err = com_send(SERVO_PORT, b); |
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216 | err = com_receive(SERVO_PORT); |
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217 | if (err != (int)(b)) return -1; |
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218 | res = com_receive(SERVO_PORT); |
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219 | |||
220 | kern_event_delete(timeout_event); |
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221 | |||
222 | if (!timer_expired) |
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223 | return res; |
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224 | else |
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225 | return -1; |
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226 | |||
281 | giacomo | 227 | } |
228 | |||
282 | giacomo | 229 | /* 0100:0aaa */ |
281 | giacomo | 230 | int servo_get_analog(int port) |
231 | { |
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232 | |||
282 | giacomo | 233 | struct timespec current_time; |
234 | unsigned char b; |
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235 | int err,res,timeout_event; |
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236 | |||
237 | if (port > 4) return -1; |
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238 | |||
239 | timer_expired = 0; |
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240 | kern_gettime(¤t_time); |
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241 | ADDUSEC2TIMESPEC(SERVO_TIMEOUT,¤t_time); |
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242 | timeout_event = kern_event_post(¤t_time, set_timer_expired, NULL); |
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281 | giacomo | 243 | |
282 | giacomo | 244 | b = 0x40 | (port & 7); |
245 | err = com_send(SERVO_PORT, b); |
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246 | err = com_receive(SERVO_PORT); |
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247 | if (err != (int)(b)) return -1; |
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248 | res = com_receive(SERVO_PORT) << 8; |
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249 | res |= com_receive(SERVO_PORT); |
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250 | |||
251 | kern_event_delete(timeout_event); |
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252 | |||
253 | if (!timer_expired) |
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254 | return res; |
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255 | else |
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256 | return -1; |
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257 | |||
281 | giacomo | 258 | } |
259 |