#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; /** Associated PWM. */ struct pwm_t *pwm; /** Absolute position. */ int16_t pos; /** Trajectory mode. */ uint8_t traj_mode; /** Goto position position. */ uint32_t goto_pos; /** Clamping PWM. */ int16_t clampin_pwm; /** 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_clamp_start (struct aux_t *aux, int8_t speed, int16_t clampin_pwm, uint8_t seq); void aux_traj_find_zero_start (struct aux_t *aux, int8_t speed, uint8_t seq); void aux_traj_find_limit_start (struct aux_t *aux, int8_t speed, uint8_t seq); void aux_traj_update (void); #endif /* aux_h */