From f30e14673a84863fd51ec36fcf771221335161ba Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 30 Mar 2011 01:09:44 +0200 Subject: digital/avr/modules/motor: add new encoder module --- digital/avr/modules/motor/encoder/test/Makefile | 15 ++ .../avr/modules/motor/encoder/test/avrconfig_io.h | 110 ++++++++++++ .../modules/motor/encoder/test/avrconfig_xmem.h | 102 +++++++++++ .../avr/modules/motor/encoder/test/test_encoder.c | 192 +++++++++++++++++++++ 4 files changed, 419 insertions(+) create mode 100644 digital/avr/modules/motor/encoder/test/Makefile create mode 100644 digital/avr/modules/motor/encoder/test/avrconfig_io.h create mode 100644 digital/avr/modules/motor/encoder/test/avrconfig_xmem.h create mode 100644 digital/avr/modules/motor/encoder/test/test_encoder.c (limited to 'digital/avr/modules/motor/encoder/test') diff --git a/digital/avr/modules/motor/encoder/test/Makefile b/digital/avr/modules/motor/encoder/test/Makefile new file mode 100644 index 00000000..0d15f5dc --- /dev/null +++ b/digital/avr/modules/motor/encoder/test/Makefile @@ -0,0 +1,15 @@ +BASE = ../../../.. +PROGS = test_encoder_ext +test_encoder_ext_SOURCES = test_encoder.c +MODULES = utils uart proto math/fixed motor/encoder motor/encoder/ext +CONFIGFILE = avrconfig_xmem.h +# atmega8, atmega8535, atmega128... +AVR_MCU = atmega128 +# -O2 : speed +# -Os : size +OPTIMIZE = -Os + +TEST_MCU = atmega128 +TEST_CONFIGFILES = avrconfig_xmem.h avrconfig_io.h + +include $(BASE)/make/Makefile.gen diff --git a/digital/avr/modules/motor/encoder/test/avrconfig_io.h b/digital/avr/modules/motor/encoder/test/avrconfig_io.h new file mode 100644 index 00000000..5476afdc --- /dev/null +++ b/digital/avr/modules/motor/encoder/test/avrconfig_io.h @@ -0,0 +1,110 @@ +#ifndef avrconfig_h +#define avrconfig_h +/* avrconfig.h */ +/* motor - Motor control module. {{{ + * + * 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. + * + * }}} */ + +/* global */ +/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800, + * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */ +#define AC_FREQ 14745600 + +/* uart - UART module. */ +/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */ +#define AC_UART0_PORT 1 +/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800, + * 115200, 230400, 250000, 500000, 1000000. */ +#define AC_UART0_BAUDRATE 38400 +/** Send mode: + * - POLLING: no interrupts. + * - RING: interrupts, ring buffer. */ +#define AC_UART0_SEND_MODE RING +/** Recv mode, same as send mode. */ +#define AC_UART0_RECV_MODE RING +/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */ +#define AC_UART0_CHAR_SIZE 8 +/** Parity : ODD, EVEN, NONE. */ +#define AC_UART0_PARITY EVEN +/** Stop bits : 1, 2. */ +#define AC_UART0_STOP_BITS 1 +/** Send buffer size, should be power of 2 for RING mode. */ +#define AC_UART0_SEND_BUFFER_SIZE 32 +/** Recv buffer size, should be power of 2 for RING mode. */ +#define AC_UART0_RECV_BUFFER_SIZE 32 +/** If the send buffer is full when putc: + * - DROP: drop the new byte. + * - WAIT: wait until there is room in the send buffer. */ +#define AC_UART0_SEND_BUFFER_FULL DROP +/** In HOST compilation: + * - STDIO: use stdin/out. + * - PTS: use pseudo terminal. */ +#define AC_UART0_HOST_DRIVER STDIO +/** Same thing for secondary port. */ +#define AC_UART1_PORT -1 +#define AC_UART1_BAUDRATE 115200 +#define AC_UART1_SEND_MODE RING +#define AC_UART1_RECV_MODE RING +#define AC_UART1_CHAR_SIZE 8 +#define AC_UART1_PARITY EVEN +#define AC_UART1_STOP_BITS 1 +#define AC_UART1_SEND_BUFFER_SIZE 32 +#define AC_UART1_RECV_BUFFER_SIZE 32 +#define AC_UART1_SEND_BUFFER_FULL WAIT +#define AC_UART1_HOST_DRIVER PTS + +/* proto - Protocol module. */ +/** Maximum argument size. */ +#define AC_PROTO_ARGS_MAX_SIZE 8 +/** Callback function name. */ +#define AC_PROTO_CALLBACK proto_callback +/** Putchar function name. */ +#define AC_PROTO_PUTC uart0_putc +/** Support for quote parameter. */ +#define AC_PROTO_QUOTE 1 + +/* 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 0 +/** If not using XMEM, address/data bus, see io_bus.h. */ +#define AC_ENCODER_EXT_AD_BUS A, 8, 0 +/** If not using XMEM, address latch enable IO. */ +#define AC_ENCODER_EXT_ALE_IO B, 0 +/** If not using XMEM, read enable IO, valid low. */ +#define AC_ENCODER_EXT_RD_IO B, 1 +/** If not using XMEM and write available, write enable IO, valid low. */ +#define AC_ENCODER_EXT_WR_IO B, 2 +/** 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 + +#endif /* avrconfig_h */ diff --git a/digital/avr/modules/motor/encoder/test/avrconfig_xmem.h b/digital/avr/modules/motor/encoder/test/avrconfig_xmem.h new file mode 100644 index 00000000..e96299fe --- /dev/null +++ b/digital/avr/modules/motor/encoder/test/avrconfig_xmem.h @@ -0,0 +1,102 @@ +#ifndef avrconfig_h +#define avrconfig_h +/* avrconfig.h */ +/* motor - Motor control module. {{{ + * + * 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. + * + * }}} */ + +/* global */ +/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800, + * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */ +#define AC_FREQ 14745600 + +/* uart - UART module. */ +/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */ +#define AC_UART0_PORT 1 +/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800, + * 115200, 230400, 250000, 500000, 1000000. */ +#define AC_UART0_BAUDRATE 38400 +/** Send mode: + * - POLLING: no interrupts. + * - RING: interrupts, ring buffer. */ +#define AC_UART0_SEND_MODE RING +/** Recv mode, same as send mode. */ +#define AC_UART0_RECV_MODE RING +/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */ +#define AC_UART0_CHAR_SIZE 8 +/** Parity : ODD, EVEN, NONE. */ +#define AC_UART0_PARITY EVEN +/** Stop bits : 1, 2. */ +#define AC_UART0_STOP_BITS 1 +/** Send buffer size, should be power of 2 for RING mode. */ +#define AC_UART0_SEND_BUFFER_SIZE 32 +/** Recv buffer size, should be power of 2 for RING mode. */ +#define AC_UART0_RECV_BUFFER_SIZE 32 +/** If the send buffer is full when putc: + * - DROP: drop the new byte. + * - WAIT: wait until there is room in the send buffer. */ +#define AC_UART0_SEND_BUFFER_FULL DROP +/** In HOST compilation: + * - STDIO: use stdin/out. + * - PTS: use pseudo terminal. */ +#define AC_UART0_HOST_DRIVER STDIO +/** Same thing for secondary port. */ +#define AC_UART1_PORT -1 +#define AC_UART1_BAUDRATE 115200 +#define AC_UART1_SEND_MODE RING +#define AC_UART1_RECV_MODE RING +#define AC_UART1_CHAR_SIZE 8 +#define AC_UART1_PARITY EVEN +#define AC_UART1_STOP_BITS 1 +#define AC_UART1_SEND_BUFFER_SIZE 32 +#define AC_UART1_RECV_BUFFER_SIZE 32 +#define AC_UART1_SEND_BUFFER_FULL WAIT +#define AC_UART1_HOST_DRIVER PTS + +/* proto - Protocol module. */ +/** Maximum argument size. */ +#define AC_PROTO_ARGS_MAX_SIZE 8 +/** Callback function name. */ +#define AC_PROTO_CALLBACK proto_callback +/** Putchar function name. */ +#define AC_PROTO_PUTC uart0_putc +/** Support for quote parameter. */ +#define AC_PROTO_QUOTE 1 + +/* 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 + +#endif /* avrconfig_h */ diff --git a/digital/avr/modules/motor/encoder/test/test_encoder.c b/digital/avr/modules/motor/encoder/test/test_encoder.c new file mode 100644 index 00000000..efa4a787 --- /dev/null +++ b/digital/avr/modules/motor/encoder/test/test_encoder.c @@ -0,0 +1,192 @@ +/* test_encoder.c */ +/* motor - Motor control module. {{{ + * + * 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 "common.h" +#include "io.h" +#include "modules/utils/utils.h" +#include "modules/uart/uart.h" +#include "modules/proto/proto.h" + +#include "modules/motor/encoder/encoder.h" +#include "modules/motor/encoder/encoder_corrector.h" + +uint8_t read, read_cpt, read_mode; +uint8_t ind, ind_cpt, ind_init; +uint8_t count, count_cpt; + +encoder_t encoder[AC_ENCODER_EXT_NB]; +encoder_corrector_t encoder_corrector_right; + +#define TIMER_TOP 255 +#define TIMER_STEPS 4 +#define TIMER_STEP ((TIMER_TOP + 1) / TIMER_STEPS) + +void +timer_init (void) +{ +#ifndef HOST + TCCR0 = regv (FOC0, WGM00, COM01, COM0, WGM01, CS02, CS01, CS00, + 0, 0, 0, 0, 0, 1, 1, 0); +#endif +} + +void +timer_wait (void) +{ +#ifndef HOST + uint8_t i; + /* Make small steps with counter updates. */ + for (i = 1; i < TIMER_STEPS; i++) + { + while (TCNT0 < i * TIMER_STEP) + ; + if (count) + encoder_update_step (); + } + /* Wait overflow. */ + while (!(TIFR & _BV (TOV0))) + ; + /* Write 1 to clear. */ + TIFR = _BV (TOV0); +#else + if (count) + encoder_update_step (); +#endif +} + +int +main (void) +{ + uint8_t i; +#ifndef HOST + uint8_t read_old = 0; + uint8_t old_ind = 0; + const int total = 5000; +#endif + timer_init (); + for (i = 0; i < AC_ENCODER_EXT_NB; i++) + encoder_init (i, &encoder[i]); + encoder_corrector_init (&encoder_corrector_right); + uart0_init (); + proto_send0 ('z'); + sei (); + while (1) + { + timer_wait (); + if (count) + { + encoder_update (); + encoder_corrector_update (&encoder_corrector_right, &encoder[1]); + } +#ifndef HOST + if (read && !--read_cpt) + { + uint8_t r0, r1, r2, r3; + r0 = encoder_ext_read (0); + r1 = encoder_ext_read (1); + r2 = encoder_ext_read (2); + r3 = encoder_ext_read (3); + if (read_mode == 0 || (read_mode == 1 && r3 != read_old) + || (read_mode == 2 + && (r0 == 0 || r1 == 0 || r2 == 0 || r3 == 0))) + { + proto_send4b ('r', r0, r1, r2, r3); + read_old = r3; + } + read_cpt = read; + } + if (ind && !--ind_cpt) + { + i = encoder_ext_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; + } +#endif + if (count && !--count_cpt) + { + proto_send4w ('C', encoder[0].cur, encoder[1].cur, + encoder[2].cur, encoder[3].cur); + 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): + /* Output encoders raw value after every read. */ + read_cpt = read = args[0]; + read_mode = 0; + break; + case c ('R', 1): + /* Output encoders raw value only if last encoder changed. */ + read_cpt = read = args[0]; + read_mode = 1; + break; + case c ('Z', 1): + /* Output encoders raw value if any encoder is null. */ + read_cpt = read = args[0]; + read_mode = 2; + break; + case c ('i', 1): + /* Index checking mode. Require counter_index_test. */ + ind_cpt = ind = args[0]; + ind_init = 1; + break; + case c ('C', 1): + /* Regular encoder output, use encoder module code. */ + count_cpt = count = args[0]; + break; + case c ('c', 4): + /* Set correction. */ + encoder_corrector_set_correction (&encoder_corrector_right, + v8_to_v32 (args[0], args[1], + args[2], args[3])); + break; + default: + proto_send0 ('?'); + return; + } + proto_send (cmd, size, args); +#undef c +} -- cgit v1.2.3