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-rw-r--r--digital/avr/modules/motor/blocking_detection/blocking_detection.h53
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diff --git a/digital/avr/modules/motor/blocking_detection/blocking_detection.h b/digital/avr/modules/motor/blocking_detection/blocking_detection.h
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+#ifndef blocking_detection_h
+#define blocking_detection_h
+/* blocking_detection.h */
+/* 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 "modules/motor/pos_control/pos_control.h"
+
+/** Blocking detection state. */
+struct blocking_detection_t
+{
+ /** True if blocking is detected. */
+ uint8_t blocked;
+ /** Count the number of blocked detection. */
+ uint8_t counter;
+ /** Error limit. */
+ int32_t error_limit;
+ /** Speed limit. */
+ int16_t speed_limit;
+ /** Counter limit. */
+ uint8_t counter_limit;
+};
+typedef struct blocking_detection_t blocking_detection_t;
+
+/** Detect blocking, update blocking state. */
+void
+blocking_detection_update (blocking_detection_t *blocking_detection,
+ int16_t current_speed, int16_t output,
+ pos_control_t *pos_control,
+ uint8_t control_enabled);
+
+#endif /* blocking_detection_h */