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Diffstat (limited to 'digital/avr/modules/motor/encoder/test/test_encoder.c')
-rw-r--r--digital/avr/modules/motor/encoder/test/test_encoder.c192
1 files changed, 192 insertions, 0 deletions
diff --git a/digital/avr/modules/motor/encoder/test/test_encoder.c b/digital/avr/modules/motor/encoder/test/test_encoder.c
new file mode 100644
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--- /dev/null
+++ b/digital/avr/modules/motor/encoder/test/test_encoder.c
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+/* test_encoder.c */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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 "common.h"
+#include "io.h"
+#include "modules/utils/utils.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+
+#include "modules/motor/encoder/encoder.h"
+#include "modules/motor/encoder/encoder_corrector.h"
+
+uint8_t read, read_cpt, read_mode;
+uint8_t ind, ind_cpt, ind_init;
+uint8_t count, count_cpt;
+
+encoder_t encoder[AC_ENCODER_EXT_NB];
+encoder_corrector_t encoder_corrector_right;
+
+#define TIMER_TOP 255
+#define TIMER_STEPS 4
+#define TIMER_STEP ((TIMER_TOP + 1) / TIMER_STEPS)
+
+void
+timer_init (void)
+{
+#ifndef HOST
+ TCCR0 = regv (FOC0, WGM00, COM01, COM0, WGM01, CS02, CS01, CS00,
+ 0, 0, 0, 0, 0, 1, 1, 0);
+#endif
+}
+
+void
+timer_wait (void)
+{
+#ifndef HOST
+ uint8_t i;
+ /* Make small steps with counter updates. */
+ for (i = 1; i < TIMER_STEPS; i++)
+ {
+ while (TCNT0 < i * TIMER_STEP)
+ ;
+ if (count)
+ encoder_update_step ();
+ }
+ /* Wait overflow. */
+ while (!(TIFR & _BV (TOV0)))
+ ;
+ /* Write 1 to clear. */
+ TIFR = _BV (TOV0);
+#else
+ if (count)
+ encoder_update_step ();
+#endif
+}
+
+int
+main (void)
+{
+ uint8_t i;
+#ifndef HOST
+ uint8_t read_old = 0;
+ uint8_t old_ind = 0;
+ const int total = 5000;
+#endif
+ timer_init ();
+ for (i = 0; i < AC_ENCODER_EXT_NB; i++)
+ encoder_init (i, &encoder[i]);
+ encoder_corrector_init (&encoder_corrector_right);
+ uart0_init ();
+ proto_send0 ('z');
+ sei ();
+ while (1)
+ {
+ timer_wait ();
+ if (count)
+ {
+ encoder_update ();
+ encoder_corrector_update (&encoder_corrector_right, &encoder[1]);
+ }
+#ifndef HOST
+ if (read && !--read_cpt)
+ {
+ uint8_t r0, r1, r2, r3;
+ r0 = encoder_ext_read (0);
+ r1 = encoder_ext_read (1);
+ r2 = encoder_ext_read (2);
+ r3 = encoder_ext_read (3);
+ if (read_mode == 0 || (read_mode == 1 && r3 != read_old)
+ || (read_mode == 2
+ && (r0 == 0 || r1 == 0 || r2 == 0 || r3 == 0)))
+ {
+ proto_send4b ('r', r0, r1, r2, r3);
+ read_old = r3;
+ }
+ read_cpt = read;
+ }
+ if (ind && !--ind_cpt)
+ {
+ i = encoder_ext_read (3);
+ if (!ind_init && i != old_ind)
+ {
+ uint8_t eip = old_ind + total;
+ uint8_t eim = old_ind - total;
+ proto_send7b ('i', old_ind, i, eip, eim, i - eip, i - eim,
+ i == eip || i == eim);
+ }
+ old_ind = i;
+ ind_init = 0;
+ ind_cpt = ind;
+ }
+#endif
+ if (count && !--count_cpt)
+ {
+ proto_send4w ('C', encoder[0].cur, encoder[1].cur,
+ encoder[2].cur, encoder[3].cur);
+ count_cpt = count;
+ }
+ while (uart0_poll ())
+ proto_accept (uart0_getc ());
+ }
+}
+
+/** Handle incoming messages. */
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ /* Reset. */
+ utils_reset ();
+ break;
+ case c ('r', 1):
+ /* Output encoders raw value after every read. */
+ read_cpt = read = args[0];
+ read_mode = 0;
+ break;
+ case c ('R', 1):
+ /* Output encoders raw value only if last encoder changed. */
+ read_cpt = read = args[0];
+ read_mode = 1;
+ break;
+ case c ('Z', 1):
+ /* Output encoders raw value if any encoder is null. */
+ read_cpt = read = args[0];
+ read_mode = 2;
+ break;
+ case c ('i', 1):
+ /* Index checking mode. Require counter_index_test. */
+ ind_cpt = ind = args[0];
+ ind_init = 1;
+ break;
+ case c ('C', 1):
+ /* Regular encoder output, use encoder module code. */
+ count_cpt = count = args[0];
+ break;
+ case c ('c', 4):
+ /* Set correction. */
+ encoder_corrector_set_correction (&encoder_corrector_right,
+ v8_to_v32 (args[0], args[1],
+ args[2], args[3]));
+ break;
+ default:
+ proto_send0 ('?');
+ return;
+ }
+ proto_send (cmd, size, args);
+#undef c
+}