root / branches / encoders / code / projects / libdragonfly / encoders.c @ 771
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#include "encoders.h" |
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#include "spi.h" |
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#include <dragonfly_lib.h> |
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#include "ring_buffer.h" |
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unsigned int left_data_buf; |
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unsigned int right_data_buf; |
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char buf_index;
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unsigned int left_data; |
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unsigned int right_data; |
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unsigned int left_data_array[BUFFER_SIZE]; |
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unsigned int right_data_array[BUFFER_SIZE]; |
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int left_data_idx;
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int right_data_idx;
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int left_dx;
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int right_dx;
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long int timecount; |
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int left_v;
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int right_v;
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volatile int recv_count; |
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volatile short int data_ready; |
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void encoder_recv(char data); |
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//Helper Function Prototypes
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inline void left_data_array_put(unsigned short int value); |
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inline unsigned int left_data_array_top(void); |
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inline unsigned int left_data_array_prev(void); |
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inline unsigned int left_data_array_bottom(void); |
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inline void right_data_array_put(unsigned short int value); |
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inline unsigned int right_data_array_top(void); |
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inline unsigned int right_data_array_prev(void); |
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inline unsigned int right_data_array_bottom(void); |
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//RING_BUFFER_NEW(enc_buffer, BUFFER_SIZE, short int);
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void encoder_recv_complete(void); |
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void encoder_recv_complete(){
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int dx;
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// usb_puts("[");usb_puti(left_dx);usb_puts(",");usb_puti(right_dx);usb_puts("]\r\n");
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// usb_puts("\r\n");
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data_ready++; |
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delay_ms(ENCODER_DELAY); |
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spi_transfer(5);
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} |
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void put_bin(char data){ |
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int i;
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for(i=7;i>=0;i--) |
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usb_puti((data>>i)&1);
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usb_puts(" ");
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} |
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void encoders_init(void){ |
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int i;
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data_ready=0;
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spi_init(encoder_recv/*put_bin*/, encoder_recv_complete);
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buf_index = 0;
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left_data_buf = 0;
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right_data_buf= 0;
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left_data = -1;
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right_data = -1;
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recv_count=0;
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left_v=0;
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right_v=0;
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//RING_BUFFER_INIT(enc_buffer,BUFFER_SIZE);
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left_data_idx = 0;
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right_data_idx = 0;
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for(i = 0; i < BUFFER_SIZE; i++) { |
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left_data_array[i] = 0;
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} |
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for(i = 0; i < BUFFER_SIZE; i++) { |
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right_data_array[i] = 0;
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} |
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spi_transfer(5);
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} |
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int encoder_read(char encoder){ |
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if(encoder==LEFT)
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return left_data;
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else if(encoder==RIGHT) |
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return right_data;
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else return -1; |
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} |
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int encoder_change(char encoder){ |
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return 0; |
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} |
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char encoder_direction(char encoder){ |
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return 0; |
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} |
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int encoder_get_dx(char encoder) { |
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if(encoder==LEFT)
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return left_dx;
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else if(encoder==RIGHT) |
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return right_dx;
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else return -1; |
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} |
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void encoder_rst_dx(char encoder) { |
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if(encoder==LEFT)
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left_dx = 0;
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else if(encoder==RIGHT) |
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right_dx = 0;
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} |
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int encoder_get_tc(void) { |
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return timecount;
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} |
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void encoder_rst_tc(void) { |
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timecount = 0;
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} |
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int encoder_get_v(char encoder){ |
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int last, res=0; |
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cli(); |
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if(encoder==LEFT){
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if(left_data_idx==0) |
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last = BUFFER_SIZE - 1;
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else
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last = left_data_idx - 1;
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res = ((int)left_data_array[last]) - ((int)left_data_array[left_data_idx]); |
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} |
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if(encoder==RIGHT){
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if(right_data_idx==0) |
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last = BUFFER_SIZE - 1;
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else
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last = right_data_idx - 1;
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res = ((int)right_data_array[right_data_idx]) - ((int)right_data_array[last]); |
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} |
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sei(); |
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while(res<MIN_V)//underflow |
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res+=1024;
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while(res>MAX_V)//overflow |
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res-=1024;
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return res;
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} |
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void encoder_wait(int n){ |
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while(data_ready<n);
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data_ready=0;
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} |
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//Full reads occur every 40 microseconds. This function should be called
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//every 8 microseconds.
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void encoder_recv(char data){ |
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//usb_puti(buf_index);
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short int dx; |
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recv_count++; |
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//if(++recv_count==ENCODER_DELAY){
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recv_count=0;
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if(buf_index == 0) |
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right_data_buf |= ((short)data)<<8 & 0xff00; |
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else if (buf_index == 1) |
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right_data_buf |= ((short)data) & 0xff; |
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else if (buf_index == 2) |
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left_data_buf |= (((short)data) << 9) & (0x7F << 9); |
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else if (buf_index == 3) |
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left_data_buf |= (((short)data) << 1) & (0xFF<<1); |
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else if (buf_index == 4) |
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left_data_buf |= (((short)data)>>7) & 0x1; |
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buf_index = (buf_index + 1) % 5; |
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if(buf_index==0) { |
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if(left_data_buf & (COF | LIN) || !(left_data_buf & OCF)){
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left_data = INVALID; |
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} |
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else if(((left_data_buf & MagINCn) > 0) && ((left_data_buf & MagDECn) > 0)){ |
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left_data = MAGNET_FAILURE; |
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} |
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else{
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left_data = (left_data_buf>>5) & 1023; |
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} |
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if(right_data_buf & (COF | LIN) || !(right_data_buf & OCF)){
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right_data = INVALID; |
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} |
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else if ( ((left_data_buf & MagINCn) > 0) && ((left_data_buf & MagDECn) > 0)){ |
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left_data = MAGNET_FAILURE; |
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} |
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else{
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right_data = (right_data_buf>>5) & 1023; |
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} |
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//if(left_data!=INVALID || right_data!=INVALID){
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// usb_puts("{");usb_puti(left_data);usb_puts(",");usb_puti(right_data);usb_puts("}\r\n");
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//}
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left_data_buf = 0;
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right_data_buf = 0;
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if(left_data < INVALID) {
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//Put new data onto data array
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left_data_array_put(left_data); |
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//Adjust left accumulator
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//dx = left_data - left_data_array_prev();
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dx = left_data_array_prev() - left_data; |
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//Adjust velocity: save last dx
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left_v = left_dx; |
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/*left dx was negative on robot 7, could just be that
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the encoder is backwards, so this may need to change
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back
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*/
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if(left_data_array_prev()==0) |
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dx=0;
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if(dx > 5) { //underflow |
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left_dx += dx - 1023;
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} |
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else if(dx < -5) { //overflow |
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left_dx += dx + 1023;
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} |
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else {
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left_dx += dx; |
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} |
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//Adjust velocity: update
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left_v = left_dx - left_v; |
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} |
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if(right_data < INVALID) {
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//Put new data onto data array
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right_data_array_put(right_data); |
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//Adjust right accumulator
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dx = right_data - right_data_array_prev(); |
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if(right_data_array_prev()==0) |
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dx=0;
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if(dx > 5) { //underflow |
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right_dx += dx - 1023;
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} |
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else if(dx < -5) { //overflow |
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right_dx += dx + 1023;
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} |
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else {
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right_dx += dx; |
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} |
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} |
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} |
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//Increment timecount accumulator
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timecount++; |
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//}
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} |
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//Helper Functions
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inline void left_data_array_put(unsigned short int value) { |
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if(left_data_idx == BUFFER_SIZE-1) |
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left_data_idx = 0;
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else
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left_data_idx++; |
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left_data_array[left_data_idx] = value; |
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} |
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inline unsigned int left_data_array_top(void) { |
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return left_data_array[left_data_idx];
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} |
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inline unsigned int left_data_array_prev(void) { |
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if(left_data_idx == 0) |
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return left_data_array[BUFFER_SIZE-1]; |
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else
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return left_data_array[left_data_idx - 1]; |
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} |
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inline unsigned int left_data_array_bottom(void) { |
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if(left_data_idx == BUFFER_SIZE-1) |
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return left_data_array[0]; |
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else
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return left_data_array[left_data_idx + 1]; |
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} |
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inline void right_data_array_put(unsigned short int value) { |
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if(right_data_idx == BUFFER_SIZE-1) |
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right_data_idx = 0;
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else
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right_data_idx++; |
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right_data_array[right_data_idx] = value; |
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} |
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inline unsigned int right_data_array_top(void) { |
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return right_data_array[right_data_idx];
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} |
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inline unsigned int right_data_array_prev(void) { |
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if(right_data_idx == 0) |
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return right_data_array[BUFFER_SIZE-1]; |
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else
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return right_data_array[right_data_idx - 1]; |
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} |
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inline unsigned int right_data_array_bottom(void) { |
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if(right_data_idx == BUFFER_SIZE-1) |
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return right_data_array[0]; |
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else
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return right_data_array[right_data_idx + 1]; |
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} |