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 --- .../avr/modules/motor/encoder/test/test_encoder.c | 192 +++++++++++++++++++++ 1 file changed, 192 insertions(+) create mode 100644 digital/avr/modules/motor/encoder/test/test_encoder.c (limited to 'digital/avr/modules/motor/encoder/test/test_encoder.c') diff --git a/digital/avr/modules/motor/encoder/test/test_encoder.c b/digital/avr/modules/motor/encoder/test/test_encoder.c new file mode 100644 index 00000000..efa4a787 --- /dev/null +++ b/digital/avr/modules/motor/encoder/test/test_encoder.c @@ -0,0 +1,192 @@ +/* test_encoder.c */ +/* motor - Motor control module. {{{ + * + * 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 "common.h" +#include "io.h" +#include "modules/utils/utils.h" +#include "modules/uart/uart.h" +#include "modules/proto/proto.h" + +#include "modules/motor/encoder/encoder.h" +#include "modules/motor/encoder/encoder_corrector.h" + +uint8_t read, read_cpt, read_mode; +uint8_t ind, ind_cpt, ind_init; +uint8_t count, count_cpt; + +encoder_t encoder[AC_ENCODER_EXT_NB]; +encoder_corrector_t encoder_corrector_right; + +#define TIMER_TOP 255 +#define TIMER_STEPS 4 +#define TIMER_STEP ((TIMER_TOP + 1) / TIMER_STEPS) + +void +timer_init (void) +{ +#ifndef HOST + TCCR0 = regv (FOC0, WGM00, COM01, COM0, WGM01, CS02, CS01, CS00, + 0, 0, 0, 0, 0, 1, 1, 0); +#endif +} + +void +timer_wait (void) +{ +#ifndef HOST + uint8_t i; + /* Make small steps with counter updates. */ + for (i = 1; i < TIMER_STEPS; i++) + { + while (TCNT0 < i * TIMER_STEP) + ; + if (count) + encoder_update_step (); + } + /* Wait overflow. */ + while (!(TIFR & _BV (TOV0))) + ; + /* Write 1 to clear. */ + TIFR = _BV (TOV0); +#else + if (count) + encoder_update_step (); +#endif +} + +int +main (void) +{ + uint8_t i; +#ifndef HOST + uint8_t read_old = 0; + uint8_t old_ind = 0; + const int total = 5000; +#endif + timer_init (); + for (i = 0; i < AC_ENCODER_EXT_NB; i++) + encoder_init (i, &encoder[i]); + encoder_corrector_init (&encoder_corrector_right); + uart0_init (); + proto_send0 ('z'); + sei (); + while (1) + { + timer_wait (); + if (count) + { + encoder_update (); + encoder_corrector_update (&encoder_corrector_right, &encoder[1]); + } +#ifndef HOST + if (read && !--read_cpt) + { + uint8_t r0, r1, r2, r3; + r0 = encoder_ext_read (0); + r1 = encoder_ext_read (1); + r2 = encoder_ext_read (2); + r3 = encoder_ext_read (3); + if (read_mode == 0 || (read_mode == 1 && r3 != read_old) + || (read_mode == 2 + && (r0 == 0 || r1 == 0 || r2 == 0 || r3 == 0))) + { + proto_send4b ('r', r0, r1, r2, r3); + read_old = r3; + } + read_cpt = read; + } + if (ind && !--ind_cpt) + { + i = encoder_ext_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; + } +#endif + if (count && !--count_cpt) + { + proto_send4w ('C', encoder[0].cur, encoder[1].cur, + encoder[2].cur, encoder[3].cur); + 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): + /* Output encoders raw value after every read. */ + read_cpt = read = args[0]; + read_mode = 0; + break; + case c ('R', 1): + /* Output encoders raw value only if last encoder changed. */ + read_cpt = read = args[0]; + read_mode = 1; + break; + case c ('Z', 1): + /* Output encoders raw value if any encoder is null. */ + read_cpt = read = args[0]; + read_mode = 2; + break; + case c ('i', 1): + /* Index checking mode. Require counter_index_test. */ + ind_cpt = ind = args[0]; + ind_init = 1; + break; + case c ('C', 1): + /* Regular encoder output, use encoder module code. */ + count_cpt = count = args[0]; + break; + case c ('c', 4): + /* Set correction. */ + encoder_corrector_set_correction (&encoder_corrector_right, + v8_to_v32 (args[0], args[1], + args[2], args[3])); + break; + default: + proto_send0 ('?'); + return; + } + proto_send (cmd, size, args); +#undef c +} -- cgit v1.2.3