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authorNicolas Schodet2008-01-31 01:07:51 +0100
committerNicolas Schodet2008-01-31 01:07:51 +0100
commit730ec2b971458a86c7a2e90901159eaf7b57601d (patch)
treece882729ac8a609fecafe9807012927042412873 /digital/asserv/src/asserv/counter.avr.c
parente8c8449a592f639a56d47a98c92fc21345c4c76c (diff)
* digital/asserv/src/asserv:
- added external counter support.
Diffstat (limited to 'digital/asserv/src/asserv/counter.avr.c')
-rw-r--r--digital/asserv/src/asserv/counter.avr.c173
1 files changed, 0 insertions, 173 deletions
diff --git a/digital/asserv/src/asserv/counter.avr.c b/digital/asserv/src/asserv/counter.avr.c
deleted file mode 100644
index c2b58781..00000000
--- a/digital/asserv/src/asserv/counter.avr.c
+++ /dev/null
@@ -1,173 +0,0 @@
-/* counter.avr.c */
-/* asserv - Position & speed motor control on AVR. {{{
- *
- * Copyright (C) 2005 Nicolas Schodet
- *
- * Robot APB Team/Efrei 2006.
- * Web: http://assos.efrei.fr/robot/
- * Email: robot AT efrei DOT fr
- *
- * 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.
- *
- * }}} */
-
-/** Define to 1 to reverse the left counter. */
-#define COUNTER_REVERSE_LEFT 0
-/** Define to 1 to reverse the right counter. */
-#define COUNTER_REVERSE_RIGHT 0
-
-/** Forward and reverse counter values. */
-static uint8_t counter_left_frw, counter_left_rev,
- counter_right_frw, counter_right_rev;
-/** Last TCNT 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 9 significant bits, sign included. */
-static int16_t counter_left_diff, counter_right_diff;
-
-/* +AutoDec */
-
-/** Initialize the counters. */
-static inline void
-counter_init (void);
-
-/** Update overall counter values and compute diffs. */
-static inline void
-counter_update (void);
-
-/** Restart counting. */
-static inline void
-counter_restart (void);
-
-/* -AutoDec */
-
-/** Initialize the counters. */
-static inline void
-counter_init (void)
-{
- /* Left counter. */
- /* External, rising edge. */
- TCCR2 = regv (FOC2, WGM20, COM21, COM20, WGM21, CS22, CS21, CS20,
- 0, 0, 0, 0, 0, 1, 1, 1);
- /* Right counter. */
- /* Normal counter. */
- TCCR3A = 0;
- /* External, rising edge. */
- TCCR3B = regv (ICNC3, ICES3, 5, WGM33, WGM32, CS32, CS31, CS30,
- 0, 0, 0, 0, 0, 1, 1, 1);
- /* Begin with safe values. */
- counter_restart ();
- /* Interrupts for direction. */
- EICRB = 0x05;
- EIFR = _BV (4) | _BV (5);
- EIMSK = _BV (4) | _BV (5);
-}
-
-/** Left direction change. */
-SIGNAL (SIG_INTERRUPT4)
-{
- uint8_t c;
- c = TCNT2;
- if (PINE & _BV (4))
- {
- counter_left_rev += c - counter_left_old;
- GREEN_LED (!COUNTER_REVERSE_LEFT);
- }
- else
- {
- counter_left_frw += c - counter_left_old;
- GREEN_LED (COUNTER_REVERSE_LEFT);
- }
- counter_left_old = c;
-}
-
-/** Right direction change. */
-SIGNAL (SIG_INTERRUPT5)
-{
- uint8_t c;
- c = TCNT3L;
- if (PINE & _BV (5))
- {
- counter_right_rev += c - counter_right_old;
- RED_LED (!COUNTER_REVERSE_RIGHT);
- }
- else
- {
- counter_right_frw += c - counter_right_old;
- RED_LED (COUNTER_REVERSE_RIGHT);
- }
- counter_right_old = c;
-}
-
-/** Update overall counter values and compute diffs. */
-static inline void
-counter_update (void)
-{
- uint8_t c;
- /* Disable ints. */
- EIMSK &= ~(_BV (4) | _BV (5));
- /* Read left counter. */
- c = TCNT2;
- if (PINE & _BV (4))
- counter_left_frw += c - counter_left_old;
- else
- counter_left_rev += c - counter_left_old;
- counter_left_old = c;
- /* Read right counter. */
- c = TCNT3L;
- if (PINE & _BV (5))
- counter_right_frw += c - counter_right_old;
- else
- counter_right_rev += c - counter_right_old;
- counter_right_old = c;
- /* Update counter values and diffs. */
-#if COUNTER_REVERSE_LEFT == 0
- counter_left_diff = counter_left_frw;
- counter_left_diff -= counter_left_rev;
-#else
- counter_left_diff = counter_left_rev;
- counter_left_diff -= counter_left_frw;
-#endif
- counter_left_frw = 0;
- counter_left_rev = 0;
- counter_left += counter_left_diff;
-#if COUNTER_REVERSE_RIGHT == 0
- counter_right_diff = counter_right_frw;
- counter_right_diff -= counter_right_rev;
-#else
- counter_right_diff = counter_right_rev;
- counter_right_diff -= counter_right_frw;
-#endif
- counter_right_frw = 0;
- counter_right_rev = 0;
- counter_right += counter_right_diff;
- /* Enable ints. */
- EIMSK |= _BV (4) | _BV (5);
-}
-
-/** Restart counting. */
-static inline void
-counter_restart (void)
-{
- counter_left_frw = 0;
- counter_left_rev = 0;
- counter_left_old = TCNT2;
- counter_right_frw = 0;
- counter_right_rev = 0;
- counter_right_old = TCNT3L;
-}
-