/* 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 }