From 4895e54c666db9720abda0aa8ae901058679aee3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 18 Dec 2011 15:19:06 +0100 Subject: digital/asserv: convert to new control system --- digital/asserv/src/asserv/avrconfig.h | 33 +++++++++++++++++++++++++++++++++ 1 file changed, 33 insertions(+) (limited to 'digital/asserv/src/asserv/avrconfig.h') diff --git a/digital/asserv/src/asserv/avrconfig.h b/digital/asserv/src/asserv/avrconfig.h index a07fa21d..7779e974 100644 --- a/digital/asserv/src/asserv/avrconfig.h +++ b/digital/asserv/src/asserv/avrconfig.h @@ -121,4 +121,37 @@ /** Same thing for an optionnal second SPI driver. */ #define AC_SPI1_DRIVER NONE +/* motor/encoder - Encoder module. */ +/** Use external encoder module. */ +#define AC_ENCODER_USE_EXT 1 + +/* motor/encoder/ext - External encoder module. */ +/** Number of encoders. */ +#define AC_ENCODER_EXT_NB 4 +/** Use external memory hardware interface. */ +#define AC_ENCODER_EXT_USE_XMEM 1 +/** Reverse flag for each encoder (1 to reverse direction). */ +#define AC_ENCODER_EXT_REVERSE 1, 0, 1, 1 +/** Right shift for all encoders to lower resolution. */ +#define AC_ENCODER_EXT_SHIFT 1 +/** For debug purpose only! */ +#define AC_ENCODER_EXT_EXPORT_READ 1 + +/* motor/output - Output module. */ +/** Use Output Compare PWM output. */ +#define AC_OUTPUT_USE_PWM_OCR 0 +/** Use Motor Power PWM output. */ +#define AC_OUTPUT_USE_PWM_MP 1 +/** Define module and module index for each output. */ +#define AC_OUTPUT_LIST (pwm_mp, 0), (pwm_mp, 1), (pwm_mp, 2), (pwm_mp, 3) + +/* motor/output/pwm_mp - Motor Power board PWM output module. */ +/** Number of outputs, there is two outputs per board. */ +#define AC_OUTPUT_PWM_MP_NB 4 +/** Slave select for first Motor Power board. + * WARNING: this must match hardware SS pin if using hardware SPI! */ +#define AC_OUTPUT_PWM_MP_SPI_SS_IO_0 B, 0 +/** Slave select for next Motor Power boards. */ +#define AC_OUTPUT_PWM_MP_SPI_SS_IO_1 E, 4 + #endif /* avrconfig_h */ -- cgit v1.2.3