Rev 282 | Go to most recent revision | Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 |