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-rw-r--r--digital/avr/modules/motor/encoder/encoder.h71
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diff --git a/digital/avr/modules/motor/encoder/encoder.h b/digital/avr/modules/motor/encoder/encoder.h
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+#ifndef encoder_h
+#define encoder_h
+/* encoder.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2010 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * 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 "preproc.h"
+
+/** Encoder state. */
+struct encoder_t
+{
+ /** Current position. */
+ uint16_t cur;
+ /** Difference from last update. */
+ int16_t diff;
+};
+typedef struct encoder_t encoder_t;
+
+#ifdef HOST
+# include "encoder_host.h"
+# define ENCODER_MODULE host
+#else
+# if AC_ENCODER_USE_EXT
+# include "ext/encoder_ext.h"
+# define ENCODER_MODULE ext
+# endif
+#endif
+
+/** Initialize an encoder and attach it to provided encoder structure. */
+extern inline void
+encoder_init (uint8_t index, encoder_t *encoder)
+{
+ PREPROC_PASTE (encoder_, ENCODER_MODULE, _init) (index, encoder);
+}
+
+/** Update one step. If encoders are not read fast enough, they could
+ * overflow, call this function often for an update step. */
+extern inline void
+encoder_update_step (void)
+{
+ PREPROC_PASTE (encoder_, ENCODER_MODULE, _update_step) ();
+}
+
+/** Update overall encoder values and compute diffs. */
+extern inline void
+encoder_update (void)
+{
+ PREPROC_PASTE (encoder_, ENCODER_MODULE, _update) ();
+}
+
+#endif /* encoder_h */