From 16ceb1a0562816c94eb6fed58c7a9acf2609c353 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 Mar 2008 13:54:46 +0100 Subject: * digital/asserv: - added counter test program and hdl file. --- digital/asserv/src/asserv/test_counter.c | 111 +++++++++++++++++++++++++++++++ 1 file changed, 111 insertions(+) create mode 100644 digital/asserv/src/asserv/test_counter.c (limited to 'digital/asserv/src/asserv/test_counter.c') diff --git a/digital/asserv/src/asserv/test_counter.c b/digital/asserv/src/asserv/test_counter.c new file mode 100644 index 00000000..f41d1295 --- /dev/null +++ b/digital/asserv/src/asserv/test_counter.c @@ -0,0 +1,111 @@ +/* test_counter.c */ +/* 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 "common.h" +#include "modules/utils/utils.h" +#include "modules/uart/uart.h" +#include "modules/proto/proto.h" + +#include "timer.h" +#include "misc.h" + +#include "counter_ext.avr.c" + +uint8_t read, read_cpt; +uint8_t ind, ind_cpt, ind_init; +uint8_t count, count_cpt; + +int +main (void) +{ + uint8_t old_ind = 0; + const int total = 5000; + LED_SETUP; + timer_init (); + counter_init (); + uart0_init (); + proto_send0 ('z'); + sei (); + while (1) + { + timer_wait (); + if (count) + counter_update (); + if (read && !--read_cpt) + { + proto_send2b ('r', counter_read (0), counter_read (3)); + read_cpt = read; + } + if (ind && !--ind_cpt) + { + uint8_t i = counter_read (3); + if (!ind_init && i != old_ind) + { + uint8_t eip = old_ind + total; + uint8_t eim = old_ind - total; + proto_send7b ('i', old_ind, i, eip, eim, i - eip, i - eim, + i == eip || i == eim); + } + old_ind = i; + ind_init = 0; + ind_cpt = ind; + } + if (count && !--count_cpt) + { + proto_send3w ('C', counter_left, counter_right, counter_aux0); + count_cpt = count; + } + while (uart0_poll ()) + proto_accept (uart0_getc ()); + } +} + +/** Handle incoming messages. */ +void +proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) +{ +#define c(cmd, size) (cmd << 8 | size) + switch (c (cmd, size)) + { + case c ('z', 0): + /* Reset. */ + utils_reset (); + break; + case c ('r', 1): + read_cpt = read = args[0]; + break; + case c ('i', 1): + ind_cpt = ind = args[0]; + ind_init = 1; + break; + case c ('C', 1): + count_cpt = count = args[0]; + break; + default: + proto_send0 ('?'); + return; + } + proto_send (cmd, size, args); +#undef c +} -- cgit v1.2.3