From 52f67403d2976204e3b7d515534e6a99e05e1050 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 15 Apr 2013 22:33:01 +0200 Subject: digital/asserv, digital/mimot: rename aux.[ch] files --- digital/asserv/src/asserv/aux_traj.h | 103 +++++++++++++++++++++++++++++++++++ 1 file changed, 103 insertions(+) create mode 100644 digital/asserv/src/asserv/aux_traj.h (limited to 'digital/asserv/src/asserv/aux_traj.h') diff --git a/digital/asserv/src/asserv/aux_traj.h b/digital/asserv/src/asserv/aux_traj.h new file mode 100644 index 00000000..343d5dde --- /dev/null +++ b/digital/asserv/src/asserv/aux_traj.h @@ -0,0 +1,103 @@ +#ifndef aux_traj_h +#define aux_traj_h +/* aux_traj.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. + * + * }}} */ +#include "cs.h" + +#if AC_ASSERV_AUX_NB + +# define AUX_IF(x...) x +# define AUX_OR_0(x) (x) + +/** Auxiliary motor informations. */ +struct aux_t +{ + /** Associated control system. */ + control_system_single_t *cs; + /** Absolute position. */ + int16_t pos; + /** Trajectory mode. */ + uint8_t traj_mode; + /** Goto position position. */ + uint32_t goto_pos; + /** Wait counter. */ + uint16_t wait; + /** Top zero port input register. */ + volatile uint8_t *zero_pin; + /** Top zero port bit value. */ + uint8_t zero_bv; + /** Handle blocking by aux instead of pos. */ + uint8_t handle_blocking; +}; + +extern struct aux_t aux[AC_ASSERV_AUX_NB]; + +void +aux_init (void); + +void +aux_pos_update (void); + +void +aux_traj_speed_start (struct aux_t *aux); + +void +aux_traj_goto_start (struct aux_t *aux, uint16_t pos); + +void +aux_traj_find_zero_start (struct aux_t *aux, int16_t speed); + +void +aux_traj_find_zero_reverse_start (struct aux_t *aux, int16_t speed); + +void +aux_traj_find_limit_start (struct aux_t *aux, int16_t speed); + +void +aux_traj_update (void); + +#else /* !AC_ASSERV_AUX_NB */ + +# define AUX_IF(x...) +# define AUX_OR_0(x) 0 + +extern inline void +aux_init (void) +{ +} + +extern inline void +aux_pos_update (void) +{ +} + +extern inline void +aux_traj_update (void) +{ +} + +#endif /* !AC_ASSERV_AUX_NB */ + +#endif /* aux_traj_h */ -- cgit v1.2.3