Commit from tof (2008-02-20 13:18 CET)
===============
correction de pas mal de bugs dans le test.
celui ci devrait etre a peu pres fonctionnel
aversive_projects tof2007/taillage_engrenages_final/.config
1.2
aversive_projects tof2007/taillage_engrenages_final/adc_config.h
1.2
aversive_projects tof2007/taillage_engrenages_final/main.c
1.2
aversive_projects tof2007/taillage_engrenages_final/pap_goto_pos.c
1.2
aversive_projects tof2007/taillage_engrenages_final/pap_goto_pos_config.h
1.2
===========================================================
aversive_projects/tof2007/taillage_engrenages_final/.config (1.1 -> 1.2)
===========================================================
@@ -75,14 +75,14 @@
CONFIG_MODULE_WAIT=y
CONFIG_MODULE_LIST=y
CONFIG_MODULE_SCHEDULER=y
-CONFIG_MODULE_SCHEDULER_CREATE_CONFIG=y
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
# CONFIG_MODULE_TIME is not set
# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
#
# Communication modules
#
-# CONFIG_MODULE_UART is not set
+CONFIG_MODULE_UART=y
# CONFIG_MODULE_UART_CREATE_CONFIG is not set
#
@@ -91,7 +91,7 @@
# CONFIG_MODULE_PWM is not set
# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
CONFIG_MODULE_ADC=y
-CONFIG_MODULE_ADC_CREATE_CONFIG=y
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
#
# IHM modules
@@ -110,7 +110,7 @@
# CONFIG_MODULE_KBD_MATRIX_4X4 is not set
# CONFIG_MODULE_KBD_MATRIX_4X4_CREATE_CONFIG is not set
CONFIG_MODULE_KBD_MATRIX_4X4_4PORT=y
-CONFIG_MODULE_KBD_MATRIX_4X4_4PORT_CREATE_CONFIG=y
+# CONFIG_MODULE_KBD_MATRIX_4X4_4PORT_CREATE_CONFIG is not set
# CONFIG_MODULE_MULTISERVO is not set
# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
================================================================
aversive_projects/tof2007/taillage_engrenages_final/adc_config.h (1.1 -> 1.2)
================================================================
@@ -1,7 +1,7 @@
#ifndef _ADC_CONFIG_H_
#define _ADC_CONFIG_H_
-// mappage des entrées ADC (noms utilisateur)
+// mappage des entrees ADC (noms utilisateur)
#define MUX_ADC_X MUX_ADC1
#define MUX_ADC_Y MUX_ADC2
#define MUX_ADC_Z MUX_ADC0
@@ -9,17 +9,12 @@
// constantes venant de l'ADC travaillant sur 10 bits
-#define JOYSTICK_MAX_VALUE 1024
-#define JOYSTICK_NEUTRE 512
-
-#define JOYSTICK_ZONE_MORTE 128 // zone morte de 1/4 de la course
-
-// calcul de la valeur nette maximale
-#define JOYSTICK_H (JOYSTICK_MAX_VALUE - JOYSTICK_NEUTRE -
JOYSTICK_ZONE_MORTE)
-#define JOYSTICK_B ( 0 - JOYSTICK_NEUTRE +
JOYSTICK_ZONE_MORTE)
-#define JOYSTICK_NET_VALEUR_MAX (JOYSTICK_H>-JOYSTICK_B ? JOYSTICK_H :
-JOYSTICK_B)
+#define JOYSTICK_EXCURSION 480 // valeur brute max en + ou - theoriquement
512, mais les halls ne sont pas vraiment rail2rail
+#define JOYSTICK_NEUTRE 512 // mi-course
+#define JOYSTICK_ZONE_MORTE 64 // zone morte de 1/8
+#define JOYSTICK_NET_VALEUR_MAX (JOYSTICK_EXCURSION - JOYSTICK_ZONE_MORTE)
#endif // _ADC_CONFIG_H_
==========================================================
aversive_projects/tof2007/taillage_engrenages_final/main.c (1.1 -> 1.2)
==========================================================
@@ -15,7 +15,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: main.c,v 1.1 2008-02-11 14:32:29 tof Exp $
+ * Revision : $Id: main.c,v 1.2 2008-02-20 12:18:12 tof Exp $
*
*/
@@ -25,7 +25,7 @@
#include <adc.h>
//#include <uart.h>
#include <stdio.h>
-#include <aversive_pgmspace.h>
+#include <avr/pgmspace.h>
#include <scheduler.h>
#include <lcd.h>
#include <kbd.h>
@@ -100,7 +100,7 @@
break;
case KBD_RELEASED:
- printf("\f");
+ //printf("\f");
g_affichage_joy_active = 1;
break;
}
@@ -111,7 +111,7 @@
int main(void)
{
- // uart désactivée
+ // uart (debug)
//uart_init();
//fdevopen((void *)uart0_send,NULL,0);
@@ -124,7 +124,7 @@
lcd_init(LCD_DISP_ON);
fdevopen((void*)lcd_dev_putc ,NULL, 0);
- printf_P(PSTR("\fBonjour\ntest des moteurs"));
+ printf_P(PSTR("\fBonjour 17/02 2\ntest des moteurs"));
wait_ms(1000);
printf_P(PSTR("\f"));
@@ -133,8 +133,8 @@
scheduler_add_periodical_event_priority(pap_manage, NULL, 1, 250);
//high prio à 4kHz
int max_speed = PAP_FREQ_MAX; // vitesse max pendant le
deplacement vers un point
- int min_speed = PAP_FREQ_MAX / 100; // vitesse de démarrage
- int acceleration = 20 ; // accélération max. unités =
pas² / 25.6ms
+ int min_speed = 0; // vitesse de démarrage
+ int acceleration = 10 ; // accélération max. unités =
pas² / 25.6ms
pap_set_parameters(PAP_X , max_speed, min_speed , acceleration); // X
pap_set_parameters(PAP_Y , max_speed, min_speed , acceleration); // Y
==================================================================
aversive_projects/tof2007/taillage_engrenages_final/pap_goto_pos.c (1.1 -> 1.2)
==================================================================
@@ -68,15 +68,18 @@
int speed;
speed = g_speed[papnum];
+
if(speed< g_speed_target[papnum])
{
speed += g_accel[papnum];
MAX(speed, g_speed_max[papnum]);
+ MAX(speed, g_speed_target[papnum]);
}
else if(speed> g_speed_target[papnum])
{
speed -= g_accel[papnum];
MIN(speed, -g_speed_max[papnum]);
+ MIN(speed, g_speed_target[papnum]);
}
g_speed[papnum] = speed;
@@ -251,17 +254,17 @@
switch (g_mode[papnum])
{
case PAP_POSITION:
- g_speed_target[papnum] =
pos_mode_calc_speed(0);
- speed = speed_mode_calc_speed(0);
+ g_speed_target[papnum] =
pos_mode_calc_speed(papnum);
+ speed = speed_mode_calc_speed(papnum);
break;
case PAP_STOP:
g_speed_target[papnum] = 0;
case PAP_SPEED:
- speed = speed_mode_calc_speed(0);
+ speed = speed_mode_calc_speed(papnum);
break;
}
- pap_out_set_freq(0, speed);
+ pap_out_set_freq(papnum, speed);
}
}
=========================================================================
aversive_projects/tof2007/taillage_engrenages_final/pap_goto_pos_config.h (1.1
-> 1.2)
=========================================================================
@@ -30,9 +30,9 @@
/* axe Div */
#define PAP_3_DIR_PORT PORTB
-#define PAP_3_DIR_PIN 1
+#define PAP_3_DIR_PIN 0
#define PAP_3_CLK_PORT PORTB
-#define PAP_3_CLK_PIN 2
+#define PAP_3_CLK_PIN 1
// user defined names
#define PAP_X 0
@@ -44,7 +44,7 @@
#define PAP_FREQ_MAX 100 // avec 4 kHz de frequence, on est a 39 Hz (25.6ms)
-#define PAP_WAIT() {wait_4cyc(3);}
+#define PAP_WAIT() {wait_4cyc(10);}
Commit from enseirb on branch b_eirbot (2008-02-20 20:26 CET)
======================================
AX-12 servomotors library added
+ aversive modules/devices/servo/ax12/Makefile 1.1.2.1
+ aversive modules/devices/servo/ax12/ax12.c 1.1.2.1
+ aversive modules/devices/servo/ax12/ax12.h 1.1.2.1
+ aversive modules/devices/servo/ax12/ax12_address.h 1.1.2.1
+ aversive modules/devices/servo/ax12/config/ax12_config.h 1.1.2.1
============================================
aversive/modules/devices/servo/ax12/Makefile (1.1.2.1)
============================================
@@ -0,0 +1,6 @@
+TARGET = ax12
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = ax12.c
+
+include $(AVERSIVE_DIR)/mk/aversive_module.mk
==========================================
aversive/modules/devices/servo/ax12/ax12.c (1.1.2.1)
==========================================
@@ -0,0 +1,358 @@
+#include "ax12.h"
+
+void AX12_init(AX12* s)
+{
+ s->hardware_send = NULL;
+ s->hardware_recv = NULL;
+ s->hardware_switch = NULL;
+
+ return;
+}
+
+//_________________________________________________________
+//_________________________________________________________
+
+void AX12_set_hardware_send( AX12* s, void(*pf)(uint8_t) )
+{
+ s->hardware_send = pf;
+ return;
+}
+
+void AX12_set_hardware_recv( AX12* s, uint8_t(*pf)(void) )
+{
+ s->hardware_recv = pf;
+ return;
+}
+
+void AX12_set_hardware_switch( AX12* s, void(*pf)(uint8_t) )
+{
+ s->hardware_switch = pf;
+}
+
+//_________________________________________________________
+//_________________________________________________________
+
+uint8_t AX12_checksum(AX12_Packet* packet)
+{
+ uint8_t checksum=0;
+
+ checksum += packet->id;
+ checksum += packet->instruction;
+
+ // Packet also contain length = number of params + 2
+ checksum += packet->nparams + 2;
+
+ int i;
+ for(i=0;i<packet->nparams;i++)
+ checksum += packet->params[i];
+
+ return ~checksum;
+}
+
+uint8_t AX12_send(AX12* s, AX12_Packet* packet)
+{
+
+ // Switch line to write
+ (s->hardware_switch)(AX12_STATE_WRITE);
+
+ // Header
+ (s->hardware_send)(0xFF);
+ (s->hardware_send)(0xFF);
+
+ // AX12 ID
+ (s->hardware_send)( packet->id );
+
+ // Packet length
+ (s->hardware_send)( packet->nparams + 2 );
+
+ // Instruction
+ (s->hardware_send)( packet->instruction );
+
+ // Params
+ int i;
+ for(i=0;i<(packet->nparams);i++)
+ (s->hardware_send)( packet->params[i] );
+
+ // Checksum
+ (s->hardware_send)( AX12_checksum(packet) );
+
+ // Switch line back to read
+ (s->hardware_switch)(AX12_STATE_READ);
+
+ return 0;
+}
+
+uint8_t AX12_recv(AX12* s, AX12_Packet* packet)
+{
+ uint8_t c;
+ int length;
+
+ // Switch line to read
+ (s->hardware_switch)(AX12_STATE_READ);
+
+ c = (s->hardware_recv)();
+ if(c != 0xFF)
+ return -1;
+
+ c = (s->hardware_recv)();
+ if(c != 0xFF)
+ return -1;
+
+ packet->id = (s->hardware_recv)();
+
+ length = (s->hardware_recv)();
+ packet->nparams = length - 2;
+
+ packet->error = (s->hardware_recv)();
+
+ int i;
+ for(i=0;i<(length-2);i++)
+ packet->params[i] = (s->hardware_recv)();
+
+ // Checksum
+ c = (s->hardware_recv)();
+
+ if( c != AX12_checksum(packet) )
+ return -2;
+
+ return 0;
+}
+
+//_________________________________________________________
+//_________________________________________________________
+
+uint8_t AX12_write_byte(AX12* s, uint8_t id, AX12_ADDRESS address, uint8_t
data)
+{
+ AX12_Packet p,rp;
+
+ p.id = id;
+ p.instruction = AX12_WRITE;
+ p.nparams = 2;
+
+ // memory address
+ p.params[0] = (uint8_t)address;
+
+ // value
+ p.params[1] = data;
+
+ // send packet
+ AX12_send(s,&p);
+
+ // We talk broadcast, no reply
+ if(p.id == AX12_BROADCAST_ID)
+ return 0;
+
+ // recv packet
+ AX12_recv(s,&rp);
+
+ return rp.error;
+}
+
+uint8_t AX12_write_int(AX12* s, uint8_t id, AX12_ADDRESS address, uint16_t
data)
+{
+ AX12_Packet p,rp;
+
+ p.id = id;
+ p.instruction = AX12_WRITE;
+ p.nparams = 3;
+
+ // memory address
+ p.params[0] = (uint8_t)address;
+
+ // value (low)
+ p.params[1] = 0xFF & data;
+
+ // value (high)
+ p.params[2] = data>>8;
+
+ // send packet
+ AX12_send(s,&p);
+
+ // We talk broadcast, no reply
+ if(p.id == AX12_BROADCAST_ID)
+ return 0;
+
+ // receive status packet
+ AX12_recv(s,&rp);
+
+ return rp.error;
+}
+
+uint8_t AX12_read_byte(AX12* s, uint8_t id, AX12_ADDRESS address)
+{
+ AX12_Packet p, rp;
+
+ p.id = id;
+ p.instruction = AX12_READ;
+ p.nparams = 2;
+
+ // memory address
+ p.params[0] = (uint8_t)address;
+
+ // data length
+ p.params[1] = 1;
+
+ // send packet
+ AX12_send(s,&p);
+
+ // wait for reply packet
+ AX12_recv(s,&rp);
+
+ return rp.params[0];
+}
+
+uint16_t AX12_read_int(AX12* s, uint8_t id, AX12_ADDRESS address)
+{
+ AX12_Packet p, rp;
+
+ p.id = id;
+ p.instruction = AX12_READ;
+ p.nparams = 2;
+
+ // memory address
+ p.params[0] = (uint8_t)address;
+
+ // data length
+ p.params[1] = 2;
+
+ // send packet
+ AX12_send(s,&p);
+
+ // wait for reply packet
+ AX12_recv(s,&rp);
+
+ return (rp.params[0] + ((rp.params[1])<<8) );
+}
+
+//_________________________________________________________
+//_________________________________________________________
+
+uint8_t AX12_set_position(AX12* s,uint8_t id, uint16_t position)
+{
+ return AX12_write_int(s,id,AA_GOAL_POSITION_L,position);
+}
+
+uint8_t AX12_set_position2(AX12* s, uint8_t id,
+ uint16_t position,
+ uint16_t speed)
+{
+ AX12_Packet p,rp;
+
+ p.id = id;
+ p.instruction = AX12_WRITE;
+ p.nparams = 5;
+
+ // memory address
+ p.params[0] = AA_GOAL_POSITION_L;
+ // position
+ p.params[1] = 0xFF & position;
+ p.params[2] = position>>8;
+ // speed
+ p.params[3] = 0xFF & speed;
+ p.params[4] = speed>>8;
+
+ // send packet
+ AX12_send(s,&p);
+
+ // We talk broadcast, no reply
+ if(p.id == AX12_BROADCAST_ID)
+ return 0;
+
+ // receive status packet
+ AX12_recv(s,&rp);
+
+ return rp.error;
+}
+
+uint8_t AX12_set_position3(AX12* s,uint8_t id,
+ uint16_t position,
+ uint16_t speed,
+ uint16_t torque)
+{
+ AX12_Packet p,rp;
+
+ p.id = id;
+ p.instruction = AX12_WRITE;
+ p.nparams = 7;
+
+ // memory address
+ p.params[0] = AA_GOAL_POSITION_L;
+ // position
+ p.params[1] = 0xFF & position;
+ p.params[2] = position>>8;
+ // speed
+ p.params[3] = 0xFF & speed;
+ p.params[4] = speed>>8;
+ // torque
+ p.params[5] = 0xFF & torque;
+ p.params[6] = torque>>8;
+
+ // send packet
+ AX12_send(s,&p);
+
+ // We talk broadcast, no reply
+ if(p.id == AX12_BROADCAST_ID)
+ return 0;
+
+ // receive status packet
+ AX12_recv(s,&rp);
+
+ return rp.error;
+}
+
+uint16_t AX12_get_position(AX12* s, uint8_t id)
+{
+ return AX12_read_int(s,id,AA_PRESENT_POSITION_L);
+}
+
+uint16_t AX12_get_speed(AX12* s, uint8_t id)
+{
+ return AX12_read_int(s,id,AA_PRESENT_SPEED_L);
+}
+
+uint16_t AX12_get_load(AX12* s, uint8_t id)
+{
+ return AX12_read_int(s,id,AA_PRESENT_LOAD_L);
+}
+
+uint8_t AX12_ping(AX12* s, uint8_t id)
+{
+ AX12_Packet p,rp;
+
+ p.id = id;
+ p.instruction = AX12_PING;
+ p.nparams = 0;
+
+ // send packet
+ AX12_send(s,&p);
+
+ // We talk broadcast, no reply
+ if(p.id == AX12_BROADCAST_ID)
+ return 0;
+
+ // recv packet
+ AX12_recv(s,&rp);
+
+ return rp.error;
+}
+
+uint8_t AX12_reset(AX12* s, uint8_t id)
+{
+ AX12_Packet p,rp;
+
+ p.id = id;
+ p.instruction = AX12_RESET;
+ p.nparams = 0;
+
+ // send packet
+ AX12_send(s,&p);
+
+ // We talk broadcast, no reply
+ if(p.id == AX12_BROADCAST_ID)
+ return 0;
+
+ // recv packet
+ AX12_recv(s,&rp);
+
+ return rp.error;
+}
==========================================
aversive/modules/devices/servo/ax12/ax12.h (1.1.2.1)
==========================================
@@ -0,0 +1,190 @@
+
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ *
+ * Revision : $Id: ax12.h,v 1.1.2.1 2008-02-20 19:26:40 enseirb Exp $
+ *
+ */
+
+/** @file ax12.h
+ * @brief This module provides functions for using a Robotis AX-12 numeric
servo
+ * motor.
+ * @todo
+ * - Manage the "Status Return Level"
+ *
+ * AX12 servos uses a full duplex uart.
+ * This module DOESN'T use ATmega's uart, user have to provide
+ * 3 functions to control the full duplex uart :
+ * - send char.
+ * - write char.
+ * - switch direction
+ */
+
+#ifndef _AX12_H_
+#define _AX12_H_
+
+#include <stdlib.h>
+#include <utils.h>
+
+#include "ax12_address.h"
+#include "ax12_config.h"
+
+//__________________________________________
+
+// Half duplex uart switch
+#define AX12_STATE_READ 0
+#define AX12_STATE_WRITE 1
+
+// Error bits
+#define AX12_ERROR_VOLTAGE 0
+#define AX12_ERROR_ANGLE_LIMIT 1
+#define AX12_ERROR_OVERHEAT 2
+#define AX12_ERROR_RANGE 3
+#define AX12_ERROR_CHECKSUM 4
+#define AX12_ERROR_OVERLOAD 5
+#define AX12_ERROR_INSTRUCTION 6
+
+// Address (see ax12_address.h)
+#define AX12_BROADCAST_ID 0xFE
+
+// AX-12 instruction set
+#define AX12_PING 0x01
+#define AX12_READ 0x02
+#define AX12_WRITE 0x03
+#define AX12_REG_WRITE 0x04
+#define AX12_ACTION 0x05
+#define AX12_RESET 0x06
+#define AX12_SYNC_WRITE 0x83
+
+//__________________________________________
+
+typedef struct AX12
+{
+ void (*hardware_send)(uint8_t);
+
+ uint8_t (*hardware_recv)(void);
+
+ void (*hardware_switch)(uint8_t);
+
+}AX12;
+
+typedef struct AX12_Packet
+{
+ uint8_t id;
+ uint8_t instruction;
+
+ // Size of AX12_Packet::params
+ uint8_t nparams;
+ uint8_t params[MAX_PARAMS];
+
+ // Used in status packet
+ uint8_t error;
+
+}AX12_Packet;
+
+//___________ Interface ____________
+
+void AX12_init(AX12*);
+
+//___________ Hardware layer _____________
+
+/** @brief Set the function called when writing a character. */
+void AX12_set_hardware_send( AX12*, void(*)(uint8_t) );
+
+/** @brief Set the function called when reading a character. */
+void AX12_set_hardware_recv( AX12*, uint8_t(*)(void) );
+
+/** @brief Set the function called when switching line direction */
+void AX12_set_hardware_switch( AX12*, void(*)(uint8_t) );
+
+//___________ Low level layer ____________
+
+/** @brief Compute AX12 packet checksum */
+uint8_t AX12_checksum(AX12_Packet* packet);
+
+/** @brief Send a formated AX12 instruction packet */
+uint8_t AX12_send(AX12*, AX12_Packet* packet);
+
+/* @brief Receive a formated AX12 status packet */
+uint8_t AX12_recv(AX12*, AX12_Packet* packet);
+
+//___________ Medium level layer _________
+
+// ////////////////// WARNING /////////////////////////
+/* The following functions assume that AX12 always
+ * answer with a status packet
+ * (Status Return Level = 0x02 in AX12 EEPROM area) */
+// ////////////////// WARNING /////////////////////////
+
+/** @brief Write byte in AX-12 memory
+ * @return Error code from AX-12 (0 means okay)*/
+uint8_t AX12_write_byte(AX12*,
+ uint8_t id,
+ AX12_ADDRESS address,
+ uint8_t data);
+
+/** @brief Write integer (2 bytes) in AX-12 memory
+ * @return Error code from AX-12 (0 means okay)
+ *
+ * address : data low
+ * address+1 : data high
+ */
+uint8_t AX12_write_int(AX12*,
+ uint8_t id,
+ AX12_ADDRESS address,
+ uint16_t data);
+
+/** @brief Read byte from AX-12 memory */
+uint8_t AX12_read_byte(AX12*, uint8_t id, AX12_ADDRESS address);
+
+/** @brief Write integer (2 bytes) from AX-12 memory */
+uint16_t AX12_read_int(AX12*, uint8_t id, AX12_ADDRESS address);
+
+//___________ High level layer _________
+
+/** @brief Set AX12 position */
+uint8_t AX12_set_position(AX12*,uint8_t id, uint16_t position);
+
+/** @brief Set AX12 position and moving speed */
+uint8_t AX12_set_position2(AX12*, uint8_t id,
+ uint16_t position,
+ uint16_t speed);
+
+/** @brief Set AX12 position, moving speed and torque*/
+uint8_t AX12_set_position3(AX12*,uint8_t id,
+ uint16_t position,
+ uint16_t speed,
+ uint16_t torque);
+
+/** @brief Read AX12 position */
+uint16_t AX12_get_position(AX12*, uint8_t id);
+
+/** @brief Read AX12 speed */
+uint16_t AX12_get_speed(AX12*, uint8_t id);
+
+/** @brief Read AX12 load */
+uint16_t AX12_get_load(AX12*, uint8_t id);
+
+
+
+/** @brief Ping an AX12 and return error register */
+uint8_t AX12_ping(AX12*, uint8_t id);
+
+/** @brief Reset AX12 back to factory settings */
+uint8_t AX12_reset(AX12*, uint8_t id);
+
+#endif/*_AX12_H*/
==================================================
aversive/modules/devices/servo/ax12/ax12_address.h (1.1.2.1)
==================================================
@@ -0,0 +1,60 @@
+#ifndef _AX12_INSTRUCTIONS_H_
+#define _AX12_INSTRUCTIONS_H_
+
+/** @brief AX-12 control table */
+typedef enum _AX12_ADDRESS
+{
+ AA_MODEL_NUMBER_L = 0x00,
+ AA_MODEL_NUMBER_H,
+ AA_FIRMWARE,
+ AA_ID,
+ AA_BAUD_RATE,
+ AA_DELAY_TIME,
+ AA_CW_ANGLE_LIMIT_L,
+ AA_CW_ANGLE_LIMIT_H,
+ AA_CCW_ANGLE_LIMIT_L,
+ AA_CCW_ANGLE_LIMIT_H,
+ AA_RESERVED_1,
+ AA_HIGHEST_LIMIT_TEMP,
+ AA_LOWEST_LIMIT_VOLTAGE,
+ AA_HIGHEST_LIMIT_VOLTAGE,
+ AA_MAX_TORQUE_L,
+ AA_MAX_TORQUE_H,
+ AA_STATUS_RETURN_LEVEL,
+ AA_ALARM_LED,
+ AA_ALARM_SHUTDOWN,
+ AA_RESERVED_2,
+ AA_DOWN_CALIBRATION_L,
+ AA_DOWN_CALIBRATION_H,
+ AA_UP_CALIBRATION_L,
+ AA_UP_CALIBRATION_H,
+ AA_TORQUE_ENABLE,
+ AA_LED,
+ AA_CW_COMPLIANCE_MARGIN,
+ AA_CCW_COMPLIANCE_MARGIN,
+ AA_CW_COMPLIANCE_SLOPE,
+ AA_CCW_COMPLIANCE_SLOPE,
+ AA_GOAL_POSITION_L,
+ AA_GOAL_POSITION_H,
+ AA_MOVING_SPEED_L,
+ AA_MOVING_SPEED_H,
+ AA_TORQUE_LIMIT_L,
+ AA_TORQUE_LIMIT_H,
+ AA_PRESENT_POSITION_L,
+ AA_PRESENT_POSITION_H,
+ AA_PRESENT_SPEED_L,
+ AA_PRESENT_SPEED_H,
+ AA_PRESENT_LOAD_L,
+ AA_PRESENT_LOAD_H,
+ AA_PRESENT_VOLTAGE,
+ AA_PRESENT_TEMP,
+ AA_PRESENT_REGINST,
+ AA_RESERVED_3,
+ AA_MOVING,
+ AA_LOCK,
+ AA_PUNCH_L,
+ AA_PUNCH_H
+
+}AX12_ADDRESS;
+
+#endif/*_AX12_INSTRUCTIONS_H_*/
========================================================
aversive/modules/devices/servo/ax12/config/ax12_config.h (1.1.2.1)
========================================================
@@ -0,0 +1,7 @@
+#ifndef _AX12_CONFIG_H_
+#define _AX12_CONFIG_H_
+
+#define MAX_PARAMS 32
+
+
+#endif/*_AX12_CONFIG_H_*/
Commit from enseirb on branch b_eirbot (2008-02-20 20:47 CET)
======================================
AX-12 library updated, with some tests
aversive config/config.in 1.48.2.2
aversive config/generate_aversive_config 1.26.2.2
aversive modules/devices/servo/ax12/ax12.h 1.1.2.2
+ aversive modules/devices/servo/ax12/test/.config 1.1.2.1
+ aversive modules/devices/servo/ax12/test/Makefile 1.1.2.1
+ aversive modules/devices/servo/ax12/test/ax12_config.h 1.1.2.1
+ aversive modules/devices/servo/ax12/test/error_config.h 1.1.2.1
+ aversive modules/devices/servo/ax12/test/main.c 1.1.2.1
+ aversive modules/devices/servo/ax12/test/uart_config.h 1.1.2.1
=========================
aversive/config/config.in (1.48.2.1 -> 1.48.2.2)
=========================
@@ -275,6 +275,11 @@
dep_bool ' |-- Create Default servo config'
CONFIG_MODULE_MULTISERVO_CREATE_CONFIG \
$CONFIG_MODULE_MULTISERVO
+bool 'AX-12' CONFIG_MODULE_AX12
+
+dep_bool ' |-- Create Default AX-12 config' CONFIG_MODULE_AX12_CREATE_CONFIG\
+ $CONFIG_MODULE_AX12
+
mainmenu_option next_comment
comment 'Brushless motor drivers (you should enable pwm modules to see all)'
========================================
aversive/config/generate_aversive_config (1.26.2.1 -> 1.26.2.2)
========================================
@@ -21,6 +21,7 @@
CONFIG_MODULE_VT100,ihm/vt100
CONFIG_MODULE_LCD,devices/ihm/lcd
CONFIG_MODULE_MULTISERVO,devices/servo/multiservo
+
CONFIG_MODULE_AX12,devices/servo/ax12
CONFIG_MODULE_ENCODERS_MICROB,devices/encoders/encoders_microb
CONFIG_MODULE_ENCODERS_EIRBOT,devices/encoders/encoders_eirbot
CONFIG_MODULE_TRAJECTORY_MANAGER,devices/robot/trajectory_manager
==========================================
aversive/modules/devices/servo/ax12/ax12.h (1.1.2.1 -> 1.1.2.2)
==========================================
@@ -16,7 +16,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: ax12.h,v 1.1.2.1 2008-02-20 19:26:40 enseirb Exp $
+ * Revision : $Id: ax12.h,v 1.1.2.2 2008-02-20 19:47:16 enseirb Exp $
*
*/
@@ -37,8 +37,8 @@
#ifndef _AX12_H_
#define _AX12_H_
-#include <stdlib.h>
-#include <utils.h>
+#include <aversive.h>
+#include <stdlib.h>
#include "ax12_address.h"
#include "ax12_config.h"
================================================
aversive/modules/devices/servo/ax12/test/.config (1.1.2.1)
================================================
@@ -0,0 +1,227 @@
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+CONFIG_MCU_ATMEGA128=y
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+CONFIG_QUARTZ=8000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+CONFIG_MATH_LIB=y
+# CONFIG_FDEVOPEN_COMPAT is not set
+# CONFIG_MINIMAL_PRINTF is not set
+CONFIG_STANDARD_PRINTF=y
+# CONFIG_ADVANCED_PRINTF is not set
+CONFIG_FORMAT_IHEX=y
+# CONFIG_FORMAT_SREC is not set
+# CONFIG_FORMAT_BINARY is not set
+
+#
+# Base modules
+#
+CONFIG_MODULE_CIRBUF=y
+# CONFIG_MODULE_CIRBUF_LARGE is not set
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
+CONFIG_MODULE_SCHEDULER_TIMER0=y
+# CONFIG_MODULE_SCHEDULER_MANUAL is not set
+# CONFIG_MODULE_TIME is not set
+# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+
+#
+# Communication modules
+#
+CONFIG_MODULE_UART=y
+CONFIG_MODULE_UART_CREATE_CONFIG=y
+# CONFIG_MODULE_I2C is not set
+# CONFIG_MODULE_I2C_MASTER is not set
+# CONFIG_MODULE_I2C_MULTIMASTER is not set
+# CONFIG_MODULE_I2C_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_CLIENT is not set
+# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set
+# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_SERVER is not set
+# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set
+
+#
+# Hardware modules
+#
+# CONFIG_MODULE_TIMER is not set
+# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIMER_DYNAMIC is not set
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+# CONFIG_MODULE_VT100 is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
+# CONFIG_MODULE_PARSE is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+CONFIG_MODULE_AX12=y
+CONFIG_MODULE_AX12_CREATE_CONFIG=y
+
+#
+# Brushless motor drivers (you should enable pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+
+#
+# Robot specific modules
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_PID_CREATE_CONFIG is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+CONFIG_MODULE_ERROR=y
+CONFIG_MODULE_ERROR_CREATE_CONFIG=y
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+CONFIG_AVRDUDE_PROG_STK200=y
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+CONFIG_AVRDUDE_PORT="/dev/parport0"
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
=================================================
aversive/modules/devices/servo/ax12/test/Makefile (1.1.2.1)
=================================================
@@ -0,0 +1,22 @@
+TARGET = main
+
+# repertoire des modules
+AVERSIVE_DIR = ../../../../..
+# VALUE, absolute or relative path : example ../.. #
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+# List Assembler source files here.
+# Make them always end in a capital .S. Files ending in a lowercase .s
+# will not be considered source files but generated files (assembler
+# output from the compiler), and will be deleted upon "make clean"!
+# Even though the DOS/Win* filesystem matches both .s and .S the same,
+# it will preserve the spelling of the filenames, and gcc itself does
+# care about how the name is spelled on its command-line.
+ASRC =
+
+########################################
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk
======================================================
aversive/modules/devices/servo/ax12/test/ax12_config.h (1.1.2.1)
======================================================
@@ -0,0 +1,7 @@
+#ifndef _AX12_CONFIG_H_
+#define _AX12_CONFIG_H_
+
+#define MAX_PARAMS 32
+
+
+#endif/*_AX12_CONFIG_H_*/
=======================================================
aversive/modules/devices/servo/ax12/test/error_config.h (1.1.2.1)
=======================================================
@@ -0,0 +1,31 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ *
+ * Revision : $Id: error_config.h,v 1.1.2.1 2008-02-20 19:47:16 enseirb Exp $
+ *
+ */
+
+#ifndef _ERROR_CONFIG_
+#define _ERROR_CONFIG_
+
+/** enable the dump of the comment */
+#define ERROR_DUMP_TEXTLOG
+
+/** enable the dump of filename and line number */
+#define ERROR_DUMP_FILE_LINE
+
+#endif
===============================================
aversive/modules/devices/servo/ax12/test/main.c (1.1.2.1)
===============================================
@@ -0,0 +1,79 @@
+#include <aversive.h>
+#include <uart.h>
+#include <math.h>
+
+#include <ax12.h>
+
+void send_char(uint8_t c)
+{
+
+ sbi(UCSR0A,TXC0);
+ while(!(UCSR0A & (1<<UDRE0))) nop();
+
+ UDR0 = c;
+
+ while(!(UCSR0A & (1<<TXC0))) nop();
+
+}
+
+uint8_t recv_char(void)
+{
+ char c;
+
+ while( !( UCSR0A &(1<<RXC0))) nop();
+
+ c = UDR0;
+
+ return c;
+}
+
+void switch_uart(uint8_t state)
+{
+ switch(state)
+ {
+ case AX12_STATE_WRITE:
+ sbi(PORTB,0);
+ break;
+
+ case AX12_STATE_READ:
+ cbi(PORTB,0);
+ break;
+
+ default:break;
+ }
+
+ return;
+}
+
+int main(void)
+{
+ AX12 ax12;
+
+ AX12_init(&ax12);
+ AX12_set_hardware_send(&ax12, send_char);
+ AX12_set_hardware_recv(&ax12, recv_char);
+ AX12_set_hardware_switch(&ax12, switch_uart);
+
+ // Initialize full duplex uart direction port
+ sbi(DDRB,0);
+ sbi(PORTB,0);
+
+ uart_init(); // Set baudrates according to uart_config.h
+
+ // Set some AX12 parameters
+ AX12_write_int(&ax12,0xFE,AA_PUNCH_L,0x20);
+ AX12_write_int(&ax12,0xFE,AA_TORQUE_LIMIT_L,0x3FF);
+ AX12_write_int(&ax12,0xFE,AA_MOVING_SPEED_L,0x300);
+ AX12_write_byte(&ax12,0xFE,AA_ALARM_LED,0xEF);
+
+ double d=0;
+ int i;
+ while(1)
+ {
+ d+=0.08;
+ for(i=1;i<6;i++)
+ AX12_set_position(&ax12,i,0x1FF + 0x130*cos(d+i*2.0));
+ }
+
+ return 0;
+}
======================================================
aversive/modules/devices/servo/ax12/test/uart_config.h (1.1.2.1)
======================================================
@@ -0,0 +1,72 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * 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
+ *
+ * Revision : $Id: uart_config.h,v 1.1.2.1 2008-02-20 19:47:16 enseirb Exp $
+ *
+ */
+
+/* Droids-corp 2004 - Zer0
+ * config for uart module
+ */
+
+#ifndef UART_CONFIG_H
+#define UART_CONFIG_H
+
+/*
+ * UART0 definitions
+ */
+
+/* compile uart0 fonctions, undefine it to pass compilation */
+#define UART0_COMPILE
+
+/* enable uart0 if == 1, disable if == 0 */
+#define UART0_ENABLED 1
+
+/* enable uart0 interrupts if == 1, disable if == 0 */
+#define UART0_INTERRUPT_ENABLED 1
+
+#define UART0_BAUDRATE 38400
+
+/*
+ * if you enable this, the maximum baudrate you can reach is
+ * higher, but the precision is lower.
+ */
+#define UART0_USE_DOUBLE_SPEED 0
+//#define UART0_USE_DOUBLE_SPEED 1
+
+#define UART0_RX_FIFO_SIZE 4
+#define UART0_TX_FIFO_SIZE 4
+//#define UART0_NBITS 5
+//#define UART0_NBITS 6
+//#define UART0_NBITS 7
+#define UART0_NBITS 8
+//#define UART0_NBITS 9
+
+#define UART0_PARITY UART_PARTITY_NONE
+//#define UART0_PARITY UART_PARTITY_ODD
+//#define UART0_PARITY UART_PARTITY_EVEN
+
+#define UART0_STOP_BIT UART_STOP_BITS_1
+//#define UART0_STOP_BIT UART_STOP_BITS_2
+
+
+
+
+/* .... same for uart 1, 2, 3 ... */
+
+#endif
+
Commit from enseirb on branch b_eirbot (2008-02-20 21:04 CET)
======================================
header changes
aversive modules/devices/servo/ax12/ax12.h 1.1.2.3
==========================================
aversive/modules/devices/servo/ax12/ax12.h (1.1.2.2 -> 1.1.2.3)
==========================================
@@ -1,6 +1,7 @@
/*
- * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2008)
+ * Brossillon JD. <[EMAIL PROTECTED]>
*
* 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
@@ -16,7 +17,7 @@
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
- * Revision : $Id: ax12.h,v 1.1.2.2 2008-02-20 19:47:16 enseirb Exp $
+ * Revision : $Id: ax12.h,v 1.1.2.3 2008-02-20 20:04:51 enseirb Exp $
*
*/
_______________________________________________
Avr-list mailing list
Avr-list@droids-corp.org
CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive
WIKI : http://wiki.droids-corp.org/index.php/Aversive
DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/
BUGZILLA : http://bugzilla.droids-corp.org
COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog
