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+#ifndef aux_traj_h
+#define aux_traj_h
+/* aux_traj.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * Copyright (C) 2008 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 "cs.h"
+
+/** Auxiliary motor informations. */
+struct aux_t
+{
+ /** Associated control system. */
+ control_system_single_t *cs;
+ /** Absolute position. */
+ int16_t pos;
+ /** Trajectory mode. */
+ uint8_t traj_mode;
+ /** Goto position position. */
+ uint32_t goto_pos;
+ /** Clamping PWM. */
+ int16_t clampin_pwm;
+ /** Wait counter. */
+ uint16_t wait;
+ /** Top zero port input register. */
+ volatile uint8_t *zero_pin;
+ /** Top zero port bit value. */
+ uint8_t zero_bv;
+ /** Handle blocking by aux instead of pos. */
+ uint8_t handle_blocking;
+ /** Reset position after zero is found. */
+ int16_t reset_pos;
+};
+
+extern struct aux_t aux[AC_ASSERV_AUX_NB];
+
+void
+aux_init (void);
+
+void
+aux_pos_update (void);
+
+void
+aux_traj_speed_start (struct aux_t *aux);
+
+void
+aux_traj_goto_start (struct aux_t *aux, uint16_t pos);
+
+void
+aux_traj_clamp_start (struct aux_t *aux, int16_t speed, int16_t clampin_pwm);
+
+void
+aux_traj_find_zero_start (struct aux_t *aux, int16_t speed, int16_t reset_pos);
+
+void
+aux_traj_find_limit_start (struct aux_t *aux, int16_t speed,
+ int16_t reset_pos);
+
+void
+aux_traj_update (void);
+
+#endif /* aux_traj_h */