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Diffstat (limited to 'digital/asserv/src/asserv/test_counter.c')
-rw-r--r--digital/asserv/src/asserv/test_counter.c133
1 files changed, 0 insertions, 133 deletions
diff --git a/digital/asserv/src/asserv/test_counter.c b/digital/asserv/src/asserv/test_counter.c
deleted file mode 100644
index 548cc3ee..00000000
--- a/digital/asserv/src/asserv/test_counter.c
+++ /dev/null
@@ -1,133 +0,0 @@
-/* test_counter.c */
-/* 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.
- *
- * }}} */
-#include "common.h"
-#include "modules/utils/utils.h"
-#include "modules/uart/uart.h"
-#include "modules/proto/proto.h"
-
-#include "timer.h"
-#include "misc.h"
-
-#include "counter_ext.avr.c"
-
-uint8_t read, read_cpt, read_mode;
-uint8_t ind, ind_cpt, ind_init;
-uint8_t count, count_cpt;
-
-int
-main (void)
-{
- uint8_t read_old = 0;
- uint8_t old_ind = 0;
- const int total = 5000;
- LED_SETUP;
- timer_init ();
- counter_init ();
- uart0_init ();
- proto_send0 ('z');
- sei ();
- while (1)
- {
- timer_wait ();
- if (count)
- counter_update ();
- if (read && !--read_cpt)
- {
- uint8_t r0, r1, r2, r3;
- r0 = counter_read (0);
- r1 = counter_read (1);
- r2 = counter_read (2);
- r3 = counter_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)
- {
- uint8_t i = counter_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;
- }
- if (count && !--count_cpt)
- {
- proto_send4w ('C', counter_left, counter_right,
- counter_aux[0], counter_aux[1]);
- 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):
- read_cpt = read = args[0];
- read_mode = 0;
- break;
- case c ('R', 1):
- read_cpt = read = args[0];
- read_mode = 1;
- break;
- case c ('Z', 1):
- read_cpt = read = args[0];
- read_mode = 2;
- break;
- case c ('i', 1):
- ind_cpt = ind = args[0];
- ind_init = 1;
- break;
- case c ('C', 1):
- count_cpt = count = args[0];
- break;
- default:
- proto_send0 ('?');
- return;
- }
- proto_send (cmd, size, args);
-#undef c
-}