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authorNicolas Schodet2010-05-02 10:08:25 +0200
committerNicolas Schodet2010-05-02 10:08:25 +0200
commita86c71e0f36ab75489de3f6aa29fdcf31fa45710 (patch)
tree5a121b2448e5fabb5cf98c5934594a477f5ce15a /digital/io/src/mimot.h
parent5a55fceb77b1e63b795dc139ec5491b3189e0263 (diff)
digital/io/src: add mimot interface, closes #134
Diffstat (limited to 'digital/io/src/mimot.h')
-rw-r--r--digital/io/src/mimot.h87
1 files changed, 87 insertions, 0 deletions
diff --git a/digital/io/src/mimot.h b/digital/io/src/mimot.h
new file mode 100644
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+++ b/digital/io/src/mimot.h
@@ -0,0 +1,87 @@
+#ifndef mimot_h
+#define mimot_h
+/* mimot.h */
+/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
+ *
+ * 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 "asserv.h"
+
+/**
+ * Provide interface to mimot board using the TWI protocol.
+ */
+
+/** Slave number in the twi_master list. */
+#define MIMOT_SLAVE 1
+
+/** Mimot TWI address. */
+#define MIMOT_TWI_ADDRESS 6
+
+/** Length of status buffer (not including CRC). */
+#define MIMOT_STATUS_LENGTH 7
+
+/** Initialise module. */
+void
+mimot_init (void);
+
+/** Called when a new status buffer is received, update the mimot
+ * information. */
+void
+mimot_status_cb (uint8_t *status);
+
+/** Return motor0 last command status. */
+asserv_status_e
+mimot_motor0_cmd_status (void);
+
+/** Return motor1 last command status. */
+asserv_status_e
+mimot_motor1_cmd_status (void);
+
+/** Get motor0 position in steps. */
+uint16_t
+mimot_get_motor0_position (void);
+
+/** Get motor1 position in steps. */
+uint16_t
+mimot_get_motor1_position (void);
+
+/** Reset mimot board. */
+void
+mimot_reset (void);
+
+/** Move motor0 to absolute position in steps. */
+void
+mimot_move_motor0_absolute (uint16_t position, uint8_t speed);
+
+/** Move motor1 to absolute position in steps. */
+void
+mimot_move_motor1_absolute (uint16_t position, uint8_t speed);
+
+/** Reset motor0 to zero position. */
+void
+mimot_motor0_zero_position (void);
+
+/** Reset motor1 to zero position. */
+void
+mimot_motor1_zero_position (void);
+
+#endif /* mimot_h */