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+#ifndef state_h
+#define state_h
+/* state.h */
+/* 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.
+ *
+ * }}} */
+
+/** There is two mechanism to acknowledge long lived command completion.
+ *
+ * The first one is dedicated to unreliable and full duplex channels like the
+ * serial port. It is based on sequence numbers.
+ *
+ * The second one is simpler, but can only be used with reliable and half
+ * duplex channels like the TWI bus. It just use a flag to remember command
+ * completion witch is reseted when a new command arrives. */
+
+/** Control mode. */
+enum state_mode_t
+{
+ /** Simple PWM setup mode. */
+ MODE_PWM,
+ /** Position control mode. */
+ MODE_POS,
+ /** Speed control mode. */
+ MODE_SPEED,
+ /** Trajectory control mode. */
+ MODE_TRAJ,
+};
+
+/** Current motor state. */
+struct state_t
+{
+ /** Current motor control mode. */
+ uint8_t mode;
+ /** Control mode variant.
+ * Used for main motors:
+ * - bit 0: disable theta position control.
+ * - bit 1: disable alpha position control.
+ * - bit 2: disable blocking detection. */
+ uint8_t variant;
+ /** Sequence number of the currently processed command, should be between
+ * 1 and 127. When a command is received on the serial port it is ignored
+ * if its sequence number is equal to the current sequence number. In
+ * this case a duplicated message is inferred. */
+ uint8_t sequence;
+ /** Sequence number of the most recently finished command. When a command
+ * is finished, the current sequence number is copied to this variable. */
+ uint8_t sequence_finish;
+ /** Sequence number of the most recently acknowledged command. Until this
+ * is not equal to the last finished command sequence number, a message is
+ * generated on the serial line. */
+ uint8_t sequence_ack;
+ /** Simpler flag based mechanism, indicates if the last received command
+ * is finished. */
+ uint8_t finished;
+ /** Wether the motor is blocked. */
+ uint8_t blocked;
+};
+
+/** Auxiliary motor states. */
+extern struct state_t state_aux[AC_ASSERV_AUX_NB];
+
+/** Start a new command execution. */
+static inline void
+state_start (struct state_t *motor, uint8_t mode, uint8_t sequence)
+{
+ motor->mode = mode;
+ motor->variant = 0;
+ motor->sequence = sequence;
+ motor->finished = 0;
+ motor->blocked = 0;
+}
+
+/** Signal the current command completion. */
+static inline void
+state_finish (struct state_t *motor)
+{
+ motor->sequence_finish = motor->sequence;
+ motor->finished = 1;
+}
+
+/** Signal the current command is blocked, disable motor control until a new
+ * command is given. */
+static inline void
+state_blocked (struct state_t *motor)
+{
+ motor->sequence_finish = motor->sequence | 0x80;
+ motor->blocked = 1;
+ motor->mode = MODE_PWM;
+}
+
+/** Acknowledge a command completion and blocked state. */
+static inline void
+state_acknowledge (struct state_t *motor, uint8_t sequence)
+{
+ motor->sequence_ack = sequence;
+ if (sequence == motor->sequence_finish)
+ {
+ motor->finished = 0;
+ motor->blocked = 0;
+ }
+}
+
+#endif /* state_h */