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/*
* Project: S.Ha.R.K.
*
* Coordinators:
* Giorgio Buttazzo <giorgio@sssup.it>
* Paolo Gai <pj@gandalf.sssup.it>
*
* Authors :
* Giacomo Guidi <giacomo@gandalf.sssup.it>
* (see the web pages for full authors list)
*
* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
*
* http://www.sssup.it
* http://retis.sssup.it
* http://shark.sssup.it
*/
/*
* Copyright (C) 2002 Paolo Gai
*
* 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 <ll/sys/ll/ll-instr.h>
#include "servo.h"
#define THR 0
#define RBR 0
#define IER 1
#define FCR 2
#define IIR 2
#define LCR 3
#define MCR 4
#define LSR 5
#define MSR 6
#define SPad 7
#define barrier() __asm__ __volatile__("" ::: "memory");
#define TIMEOUT 100000 /* us */
int timer_expired = 0;
unsigned com_base[] = {0x03F8,0x02F8,0x03E8,0x02E8};
void set_timer_expired(void)
{
timer_expired = 1;
}
unsigned com_read(unsigned port,unsigned reg)
{
unsigned b;
if (port > 3 || reg > 7) return(0);
b = ll_in(com_base[port]+reg);
return(b);
}
void com_write(unsigned port,unsigned reg,unsigned value)
{
if (port > 3 || reg > 7) return;
ll_out(com_base[port]+reg,value);
}
int com_send(unsigned port,BYTE b)
{
while ((com_read(port,LSR) & 32) == 0 && !timer_expired)
barrier();
if (!timer_expired) {
com_write(port,THR,b);
return 0;
} else {
return -1;
}
}
int com_receive(unsigned port)
{
while ((com_read(port,LSR) & 1) == 0 && !timer_expired)
barrier();
if (!timer_expired) {
return((int)(com_read(port,RBR)));
} else {
return -1;
}
}
int servo_set_RS232_baudrate(int baud)
{
return 0;
}
int servo_get_RS232_baudrate(void)
{
return 0;
}
int servo_store_RS232_buadrate(void)
{
return 0;
}
int servo_set_period(int period)
{
return 0;
}
int servo_get_period(void)
{
return 0;
}
int servo_store_period(void)
{
return 0;
}
int servo_get_setup_switch(void)
{
return 0;
}
int servo_set_RC5_switch(int data)
{
return 0;
}
int servo_set_angle(int servo, int angle)
{
return 0;
}
int servo_get_angle(int servo)
{
return 0;
}
int servo_get_analog(int port)
{
return 0;
}