Revision 675
asdf
| branches/encoders/code/projects/libdragonfly/encoders.c | ||
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| 1 | 1 |
#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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void encoder_recv(char data); |
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unsigned short int left_data_buf; |
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unsigned short int right_data_buf; |
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char buf_index; |
| ... | ... | |
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unsigned short int left_data; |
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unsigned short int right_data; |
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RING_BUFFER_NEW(enc_buffer, 16, short int, spi_send_buff, spi_rec_buff); |
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void encoders_init(void){
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spi_init(encoder_recv); |
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buf_index = 0; |
| ... | ... | |
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left_data = MAGNET_FAILURE; |
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else right_data = (right_data_buf>>5) & 1023; |
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left_data_buf = 0; |
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right_data_buf = 0; |
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