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Diffstat (limited to 'digital/asserv/src/avrcounter/avrcounter-port-comb.c')
-rw-r--r--digital/asserv/src/avrcounter/avrcounter-port-comb.c99
1 files changed, 99 insertions, 0 deletions
diff --git a/digital/asserv/src/avrcounter/avrcounter-port-comb.c b/digital/asserv/src/avrcounter/avrcounter-port-comb.c
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+++ b/digital/asserv/src/avrcounter/avrcounter-port-comb.c
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+/* avrcounter-port-comb.c - Combined table, port output. */
+/* avrcounter - Incremental encoder counter. {{{
+ *
+ * Copyright (C) 2007 Nicolas Schodet
+ *
+ * Robot APB Team 2008.
+ * 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 <io.h>
+
+int
+main (void)
+{
+ uint8_t count0 = 0, count1 = 0;
+ uint8_t state = 0;
+ /* Encoder signals:
+ * ____----____----____----
+ * __----____----____----__ */
+#define trans_0 0 /* 00 -> 00 */
+#define trans_1 +1 /* 00 -> 01 */
+#define trans_2 -1 /* 00 -> 10 */
+#define trans_3 0 /* 00 -> 11, missed! */
+#define trans_4 -1 /* 01 -> 00 */
+#define trans_5 0 /* 01 -> 01 */
+#define trans_6 0 /* 01 -> 10, missed! */
+#define trans_7 +1 /* 01 -> 11 */
+#define trans_8 +1 /* 10 -> 00 */
+#define trans_9 0 /* 10 -> 01, missed! */
+#define trans_10 0 /* 10 -> 10 */
+#define trans_11 -1 /* 10 -> 11 */
+#define trans_12 0 /* 11 -> 00, missed! */
+#define trans_13 -1 /* 11 -> 01 */
+#define trans_14 +1 /* 11 -> 10 */
+#define trans_15 0 /* 11 -> 11 */
+#define trans_x_y(x, y) { trans_ ## x, trans_ ## y },
+#define trans_x_all(x) \
+ trans_x_y (x, 0) \
+ trans_x_y (x, 1) \
+ trans_x_y (x, 2) \
+ trans_x_y (x, 3) \
+ trans_x_y (x, 4) \
+ trans_x_y (x, 5) \
+ trans_x_y (x, 6) \
+ trans_x_y (x, 7) \
+ trans_x_y (x, 8) \
+ trans_x_y (x, 9) \
+ trans_x_y (x, 10) \
+ trans_x_y (x, 11) \
+ trans_x_y (x, 12) \
+ trans_x_y (x, 13) \
+ trans_x_y (x, 14) \
+ trans_x_y (x, 15)
+ static const struct
+ {
+ int8_t inc0;
+ int8_t inc1;
+ } inc[] = {
+ trans_x_all (0)
+ trans_x_all (1)
+ trans_x_all (2)
+ trans_x_all (3)
+ trans_x_all (4)
+ trans_x_all (5)
+ trans_x_all (6)
+ trans_x_all (7)
+ trans_x_all (8)
+ trans_x_all (9)
+ trans_x_all (10)
+ trans_x_all (11)
+ trans_x_all (12)
+ trans_x_all (13)
+ trans_x_all (14)
+ trans_x_all (15)
+ };
+ DDRD = 0xff;
+ while (1)
+ {
+ state = (state << 4) | (PINC & 0x0f);
+ count0 += inc[state].inc0;
+ count1 += inc[state].inc1;
+ PORTD = (PINB & 1) ? count1 : count0;
+ }
+}