From 4895e54c666db9720abda0aa8ae901058679aee3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 18 Dec 2011 15:19:06 +0100 Subject: digital/asserv: convert to new control system --- digital/asserv/src/asserv/seq.h | 95 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 95 insertions(+) create mode 100644 digital/asserv/src/asserv/seq.h (limited to 'digital/asserv/src/asserv/seq.h') diff --git a/digital/asserv/src/asserv/seq.h b/digital/asserv/src/asserv/seq.h new file mode 100644 index 00000000..14e35cca --- /dev/null +++ b/digital/asserv/src/asserv/seq.h @@ -0,0 +1,95 @@ +#ifndef seq_h +#define seq_h +/* seq.h */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * 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/control_state/control_state.h" + +/** 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. This file implements this + * system until it can be integrated in proto module. + * + * 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. This one is + * directly implemented in control system. */ + +/** Current sequence state. */ +struct seq_t +{ + /** 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 cur; + /** Sequence number of the most recently finished command. When a command + * is finished, the current sequence number is copied to this variable. */ + uint8_t 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 ack; +}; +typedef struct seq_t seq_t; + +/** Main motors sequence state. */ +extern seq_t seq_main; + +/** Auxiliary motor states. */ +extern seq_t seq_aux[AC_ASSERV_AUX_NB]; + +/** Start a new command execution, return non zero if this is a new + * sequence. */ +static inline uint8_t +seq_start (seq_t *seq, uint8_t new) +{ + if (new == seq->cur) + return 0; + else + { + seq->cur = new; + return 1; + } +} + +/** Acknowledge a command completion and blocked state. */ +static inline void +seq_acknowledge (seq_t *seq, uint8_t ack) +{ + seq->ack = ack; +} + +/** Update sequence state according to control state. */ +static inline void +seq_update (seq_t *seq, control_state_t *state) +{ + if (control_state_is_blocked (state)) + seq->finish = seq->cur | 0x80; + else if (control_state_is_finished (state)) + seq->finish = seq->cur; +} + +#endif /* seq_h */ -- cgit v1.2.3