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Diffstat (limited to 'digital/asserv/src/asserv/test_counter.c')
-rw-r--r--digital/asserv/src/asserv/test_counter.c111
1 files changed, 111 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/test_counter.c b/digital/asserv/src/asserv/test_counter.c
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+/* test_counter.c */
+/* 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 "common.h"
+#include "modules/utils/utils.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+
+#include "timer.h"
+#include "misc.h"
+
+#include "counter_ext.avr.c"
+
+uint8_t read, read_cpt;
+uint8_t ind, ind_cpt, ind_init;
+uint8_t count, count_cpt;
+
+int
+main (void)
+{
+ uint8_t old_ind = 0;
+ const int total = 5000;
+ LED_SETUP;
+ timer_init ();
+ counter_init ();
+ uart0_init ();
+ proto_send0 ('z');
+ sei ();
+ while (1)
+ {
+ timer_wait ();
+ if (count)
+ counter_update ();
+ if (read && !--read_cpt)
+ {
+ proto_send2b ('r', counter_read (0), counter_read (3));
+ read_cpt = read;
+ }
+ if (ind && !--ind_cpt)
+ {
+ uint8_t i = counter_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;
+ }
+ if (count && !--count_cpt)
+ {
+ proto_send3w ('C', counter_left, counter_right, counter_aux0);
+ 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):
+ read_cpt = read = args[0];
+ break;
+ case c ('i', 1):
+ ind_cpt = ind = args[0];
+ ind_init = 1;
+ break;
+ case c ('C', 1):
+ count_cpt = count = args[0];
+ break;
+ default:
+ proto_send0 ('?');
+ return;
+ }
+ proto_send (cmd, size, args);
+#undef c
+}