From df7d0d94ecc69fa9aadd2ab90db89b5ef1a74030 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 29 Apr 2010 23:03:56 +0200 Subject: digital/mimot/src/dirty: add copy/pasted firmware for mimot, refs #123 This is a quick and dirty firmware copied from asserv. This will be improved once #124 is closed. --- digital/mimot/src/dirty/aux.h | 68 +++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 68 insertions(+) create mode 100644 digital/mimot/src/dirty/aux.h (limited to 'digital/mimot/src/dirty/aux.h') diff --git a/digital/mimot/src/dirty/aux.h b/digital/mimot/src/dirty/aux.h new file mode 100644 index 00000000..65456ec9 --- /dev/null +++ b/digital/mimot/src/dirty/aux.h @@ -0,0 +1,68 @@ +#ifndef aux_h +#define aux_h +/* aux.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. + * + * }}} */ + +/** Auxiliary motor informations. */ +struct aux_t +{ + /** Associated state. */ + struct state_t *state; + /** Controlled speed. */ + struct speed_t *speed; + /** 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_goto_start (struct aux_t *aux, uint16_t pos, uint8_t seq); + +void +aux_traj_find_zero_start (struct aux_t *aux, int8_t speed, uint8_t seq); + +void +aux_traj_update (void); + +#endif /* aux_h */ -- cgit v1.2.3