From f30e14673a84863fd51ec36fcf771221335161ba Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 30 Mar 2011 01:09:44 +0200 Subject: digital/avr/modules/motor: add new encoder module --- digital/avr/modules/motor/encoder/encoder.h | 71 +++++++++++++++++++++++++++++ 1 file changed, 71 insertions(+) create mode 100644 digital/avr/modules/motor/encoder/encoder.h (limited to 'digital/avr/modules/motor/encoder/encoder.h') diff --git a/digital/avr/modules/motor/encoder/encoder.h b/digital/avr/modules/motor/encoder/encoder.h new file mode 100644 index 00000000..5738dd7c --- /dev/null +++ b/digital/avr/modules/motor/encoder/encoder.h @@ -0,0 +1,71 @@ +#ifndef encoder_h +#define encoder_h +/* encoder.h */ +/* motor - Motor control module. {{{ + * + * Copyright (C) 2010 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 "preproc.h" + +/** Encoder state. */ +struct encoder_t +{ + /** Current position. */ + uint16_t cur; + /** Difference from last update. */ + int16_t diff; +}; +typedef struct encoder_t encoder_t; + +#ifdef HOST +# include "encoder_host.h" +# define ENCODER_MODULE host +#else +# if AC_ENCODER_USE_EXT +# include "ext/encoder_ext.h" +# define ENCODER_MODULE ext +# endif +#endif + +/** Initialize an encoder and attach it to provided encoder structure. */ +extern inline void +encoder_init (uint8_t index, encoder_t *encoder) +{ + PREPROC_PASTE (encoder_, ENCODER_MODULE, _init) (index, encoder); +} + +/** Update one step. If encoders are not read fast enough, they could + * overflow, call this function often for an update step. */ +extern inline void +encoder_update_step (void) +{ + PREPROC_PASTE (encoder_, ENCODER_MODULE, _update_step) (); +} + +/** Update overall encoder values and compute diffs. */ +extern inline void +encoder_update (void) +{ + PREPROC_PASTE (encoder_, ENCODER_MODULE, _update) (); +} + +#endif /* encoder_h */ -- cgit v1.2.3