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+#ifndef seq_h
+#define seq_h
+/* seq.h */
+/* asserv - Position & speed motor control on AVR. {{{
+ *
+ * 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 "modules/motor/control_state/control_state.h"
+
+/** There is two mechanism to acknowledge long lived command completion.
+ *
+ * The first one is dedicated to unreliable and full duplex channels like the
+ * serial port. It is based on sequence numbers. This file implements this
+ * system until it can be integrated in proto module.
+ *
+ * The second one is simpler, but can only be used with reliable and half
+ * duplex channels like the TWI bus. It just use a flag to remember command
+ * completion witch is reseted when a new command arrives. This one is
+ * directly implemented in control system. */
+
+/** Current sequence state. */
+struct seq_t
+{
+ /** Sequence number of the currently processed command, should be between
+ * 1 and 127. When a command is received on the serial port it is ignored
+ * if its sequence number is equal to the current sequence number. In
+ * this case a duplicated message is inferred. */
+ uint8_t cur;
+ /** Sequence number of the most recently finished command. When a command
+ * is finished, the current sequence number is copied to this variable. */
+ uint8_t finish;
+ /** Sequence number of the most recently acknowledged command. Until this
+ * is not equal to the last finished command sequence number, a message is
+ * generated on the serial line. */
+ uint8_t ack;
+};
+typedef struct seq_t seq_t;
+
+/** Main motors sequence state. */
+extern seq_t seq_main;
+
+/** Auxiliary motor states. */
+extern seq_t seq_aux[AC_ASSERV_AUX_NB];
+
+/** Start a new command execution, return non zero if this is a new
+ * sequence. */
+static inline uint8_t
+seq_start (seq_t *seq, uint8_t new)
+{
+ if (new == seq->cur)
+ return 0;
+ else
+ {
+ seq->cur = new;
+ return 1;
+ }
+}
+
+/** Acknowledge a command completion and blocked state. */
+static inline void
+seq_acknowledge (seq_t *seq, uint8_t ack)
+{
+ seq->ack = ack;
+}
+
+/** Update sequence state according to control state. */
+static inline void
+seq_update (seq_t *seq, control_state_t *state)
+{
+ if (control_state_is_blocked (state))
+ seq->finish = seq->cur | 0x80;
+ else if (control_state_is_finished (state))
+ seq->finish = seq->cur;
+}
+
+#endif /* seq_h */