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diff --git a/digital/avr/modules/motor/encoder/encoder_corrector.h b/digital/avr/modules/motor/encoder/encoder_corrector.h
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+#ifndef encoder_corrector_h
+#define encoder_corrector_h
+/* encoder_corrector.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 "encoder.h"
+
+/** Encoder corrector state. */
+struct encoder_corrector_t
+{
+ /** Current uncorrected value. */
+ int32_t cur_raw;
+ /** Correction factor (f8.24). */
+ uint32_t correction;
+};
+typedef struct encoder_corrector_t encoder_corrector_t;
+
+/** Set correction factor (f8.24). */
+extern inline void
+encoder_corrector_set_correction (encoder_corrector_t *corrector,
+ uint32_t correction)
+{
+ corrector->correction = correction;
+}
+
+/** Initialise corrector. */
+void
+encoder_corrector_init (encoder_corrector_t *corrector);
+
+/** Update correction on a single encoder. Encoder state will be changed. */
+void
+encoder_corrector_update (encoder_corrector_t *corrector, encoder_t *encoder);
+
+#endif /* encoder_corrector_h */