[Gumstix-users] Embedded computer to Robostix over UART

[Korpela, C. M. E. <Chr...@us...>]

Hi-
 
I have an embedded computer (not the gumstix) that I want to communicate to the robostix over the UART (and not I2C).
 
I am looking for a driver that is similar in functionality to the one that process commands from the gumstix.  I have the robostix.c, robostix.h files that take an I2C command from the gumstix and then processes that command on the robostix (robostix_process_command() ).  I would like the same driver but that processes a command from the UART.  The driver could use a circular buffer, linked list, etc. to store commands as they arrive.
 
As for the protocol, it does not have to be particularly complex.  I have seen an implementation that uses 0xFF as the start of a command, 0x01, 0x02, ... as the byte for the command itself and then 0xXX as the parameter for the command.  For example, 0xFF, 0x01, ox0F could be a command to set Servo1A to the center position.  Once I have the driver, I can modify the protocol as needed.
 
All of my hardware works properly.  I am using the example robostix code: Hardware.c, a2d_10.c, Servo.c, Timer.c, UART.c, etc.  I have a test application on my embedded computer that works with the robostix already over the UART.  I would like to save time and use something that is already written if it is out there rather than modifying the driver for I2C.
 
Thanks.
-Christopher