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authorNicolas Schodet2008-01-31 01:07:51 +0100
committerNicolas Schodet2008-01-31 01:07:51 +0100
commit730ec2b971458a86c7a2e90901159eaf7b57601d (patch)
treece882729ac8a609fecafe9807012927042412873
parente8c8449a592f639a56d47a98c92fc21345c4c76c (diff)
* digital/asserv/src/asserv:
- added external counter support.
-rw-r--r--digital/asserv/README25
-rw-r--r--digital/asserv/src/asserv/avrconfig.h4
-rw-r--r--digital/asserv/src/asserv/counter_ext.avr.c95
-rw-r--r--digital/asserv/src/asserv/counter_tcc.avr.c (renamed from digital/asserv/src/asserv/counter.avr.c)8
-rw-r--r--digital/asserv/src/asserv/main.c6
5 files changed, 136 insertions, 2 deletions
diff --git a/digital/asserv/README b/digital/asserv/README
new file mode 100644
index 00000000..37d78bf0
--- /dev/null
+++ b/digital/asserv/README
@@ -0,0 +1,25 @@
+asserv - Position & speed motor control on AVR.
+
+This board use a AVR to control up to 4 motors. It can compute a two-wheeled
+robot position by small moves integration.
+
+
+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.
diff --git a/digital/asserv/src/asserv/avrconfig.h b/digital/asserv/src/asserv/avrconfig.h
index 5d316a25..bd46c273 100644
--- a/digital/asserv/src/asserv/avrconfig.h
+++ b/digital/asserv/src/asserv/avrconfig.h
@@ -83,4 +83,8 @@
/** Support for quote parameter. */
#define AC_PROTO_QUOTE 1
+/* asserv. */
+/** Use external counters. */
+#define AC_ASSERV_COUNTER_EXTERNAL 1
+
#endif /* avrconfig_h */
diff --git a/digital/asserv/src/asserv/counter_ext.avr.c b/digital/asserv/src/asserv/counter_ext.avr.c
new file mode 100644
index 00000000..c717fdc6
--- /dev/null
+++ b/digital/asserv/src/asserv/counter_ext.avr.c
@@ -0,0 +1,95 @@
+/* counter_ext.avr.c - External counter support. */
+/* 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.
+ *
+ * }}} */
+
+/**
+ * This file add support for an external counter like the hdlcounter or
+ * avrcounter project. This can be better in order not to loose steps.
+ */
+
+/** Last values. */
+static uint8_t counter_left_old, counter_right_old;
+/** Overall counter values. */
+static uint16_t counter_left, counter_right;
+/** Counter differences since last update.
+ * Maximum of 7 significant bits, sign included. */
+static int16_t counter_left_diff, counter_right_diff;
+
+#define COUNTER_ALE _BV (2)
+#define COUNTER_RD _BV (1)
+#define COUNTER_WR _BV (0)
+
+static inline void
+counter_restart (void);
+
+/** Initialize the counters. */
+static inline void
+counter_init (void)
+{
+ PORTG |= COUNTER_ALE | COUNTER_RD | COUNTER_WR;
+ DDRG |= COUNTER_ALE | COUNTER_RD | COUNTER_WR;
+ PORTA = 0;
+ DDRA = 0xff;
+ /* Begin with safe values. */
+ counter_restart ();
+}
+
+/** Read an external counter. */
+static inline uint8_t
+counter_read (uint8_t n)
+{
+ uint8_t v;
+ PORTA = n;
+ PORTG &= ~COUNTER_ALE;
+ PORTA = 0;
+ DDRA = 0;
+ PORTG &= ~COUNTER_RD;
+ v = PINA;
+ PORTG |= COUNTER_RD;
+ PORTG |= COUNTER_ALE;
+ DDRA = 0xff;
+ return v;
+}
+
+/** Update overall counter values and compute diffs. */
+static inline void
+counter_update (void)
+{
+ uint8_t left, right;
+ left = counter_read (0);
+ counter_left_diff = (int8_t) (left - counter_left_old);
+ counter_left += counter_left_diff;
+ right = counter_read (1);
+ counter_right_diff = (int8_t) (right - counter_right_old);
+ counter_right += counter_right_diff;
+}
+
+/** Restart counting. */
+static inline void
+counter_restart (void)
+{
+ counter_left_old = counter_read (0);
+ counter_right_old = counter_read (1);
+}
+
diff --git a/digital/asserv/src/asserv/counter.avr.c b/digital/asserv/src/asserv/counter_tcc.avr.c
index c2b58781..5ce4058c 100644
--- a/digital/asserv/src/asserv/counter.avr.c
+++ b/digital/asserv/src/asserv/counter_tcc.avr.c
@@ -1,4 +1,4 @@
-/* counter.avr.c */
+/* counter_tcc.avr.c - Internal counter support. */
/* asserv - Position & speed motor control on AVR. {{{
*
* Copyright (C) 2005 Nicolas Schodet
@@ -23,6 +23,12 @@
*
* }}} */
+/**
+ * This file add support for an AVR internal counter. This uses one TCC
+ * hardware per counter, and an external circuitry to compute rotation
+ * direction.
+ */
+
/** Define to 1 to reverse the left counter. */
#define COUNTER_REVERSE_LEFT 0
/** Define to 1 to reverse the right counter. */
diff --git a/digital/asserv/src/asserv/main.c b/digital/asserv/src/asserv/main.c
index 22a282cd..b3caa6ed 100644
--- a/digital/asserv/src/asserv/main.c
+++ b/digital/asserv/src/asserv/main.c
@@ -38,7 +38,11 @@ uint8_t main_sequence, main_sequence_ack, main_sequence_finish;
/* This is implementation include. */
#ifndef HOST
# include "timer.avr.c"
-# include "counter.avr.c"
+# if AC_ASSERV_COUNTER_EXTERNAL
+# include "counter_ext.avr.c"
+# else
+# include "counter_tcc.avr.c"
+# endif
# include "pwm.avr.c"
#else
# include "simu.host.h"