Revision 749
added another function pointer to encoders which gets called after all bytes are recv'd.
working on a behavior to drive in a straight line, but encoders are giving invalid on robot 5
branches/encoders/code/behaviors/encoder_test/main.c | ||
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#include <dragonfly_lib.h> |
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#define usb_puti(x) x |
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|
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int main(void) |
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{ |
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dragonfly_init(ALL_ON); |
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|
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encoders_init(); |
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//spi_init(usb_putc); |
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//usb_puts("Init done.\n\r"); |
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move(130,0); |
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//while(1){spi_transfer(5);} |
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|
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while(1){ |
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usb_puti(encoder_get_dx(LEFT)); |
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// usb_puts(" "); |
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usb_puti(encoder_get_dx(RIGHT)); |
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// usb_puts("\r\n"); |
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} |
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|
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} |
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branches/encoders/code/behaviors/encoder_test/Makefile | ||
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########Update This Section######## |
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# |
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# |
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4 |
|
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# Relative path to the root directory (containing lib directory) |
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ifndef COLONYROOT |
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COLONYROOT = ../../.. |
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endif |
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|
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# Target file name (without extension). |
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TARGET = template |
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|
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# Uncomment this to use the wireless library |
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# USE_WIRELESS = 1 |
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15 |
|
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# com1 = serial port. Use lpt1 to connect to parallel port. |
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AVRDUDE_PORT = com4 |
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# |
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################################### |
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20 |
|
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# Hey Emacs, this is a -*- makefile -*- |
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#---------------------------------------------------------------------------- |
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23 |
# WinAVR Makefile Template written by Eric B. Weddington, J?rg Wunsch, et al. |
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24 |
# |
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25 |
# Released to the Public Domain |
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26 |
# |
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# Additional material for this makefile was written by: |
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# Peter Fleury |
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# Tim Henigan |
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# Colin O'Flynn |
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# Reiner Patommel |
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# Markus Pfaff |
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# Sander Pool |
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# Frederik Rouleau |
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# |
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#---------------------------------------------------------------------------- |
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# On command line: |
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38 |
# |
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# make all = Make software. |
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40 |
# |
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# make clean = Clean out built project files. |
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# |
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43 |
# make coff = Convert ELF to AVR COFF. |
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44 |
# |
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45 |
# make extcoff = Convert ELF to AVR Extended COFF. |
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46 |
# |
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47 |
# make program = Download the hex file to the device, using avrdude. |
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48 |
# Please customize the avrdude settings below first! |
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# |
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# make debug = Start either simulavr or avarice as specified for debugging, |
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51 |
# with avr-gdb or avr-insight as the front end for debugging. |
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52 |
# |
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53 |
# make filename.s = Just compile filename.c into the assembler code only. |
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54 |
# |
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55 |
# make filename.i = Create a preprocessed source file for use in submitting |
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56 |
# bug reports to the GCC project. |
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57 |
# |
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58 |
# To rebuild project do "make clean" then "make all". |
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#---------------------------------------------------------------------------- |
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60 |
|
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#if you want your code to work on the Firefly++ and not Firefly+ |
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#then add the -DFFPP line to CDEFS |
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63 |
CDEFS = |
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#-DFFPP |
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65 |
|
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# MCU name |
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MCU = atmega128 |
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68 |
|
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# Processor frequency. |
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# This will define a symbol, F_CPU, in all source code files equal to the |
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# processor frequency. You can then use this symbol in your source code to |
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# calculate timings. Do NOT tack on a 'UL' at the end, this will be done |
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# automatically to create a 32-bit value in your source code. |
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F_CPU = 8000000 |
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75 |
|
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# Output format. (can be srec, ihex, binary) |
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FORMAT = ihex |
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78 |
|
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# List C source files here. (C dependencies are automatically generated.) |
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SRC = $(wildcard *.c) |
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81 |
|
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# List Assembler source files here. |
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83 |
# Make them always end in a capital .S. Files ending in a lowercase .s |
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84 |
# will not be considered source files but generated files (assembler |
|
85 |
# output from the compiler), and will be deleted upon "make clean"! |
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# Even though the DOS/Win* filesystem matches both .s and .S the same, |
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# it will preserve the spelling of the filenames, and gcc itself does |
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# care about how the name is spelled on its command-line. |
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ASRC = |
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90 |
|
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# Optimization level, can be [0, 1, 2, 3, s]. |
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# 0 = turn off optimization. s = optimize for size. |
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# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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OPT = s |
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95 |
|
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# Debugging format. |
|
97 |
# Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs. |
|
98 |
# AVR Studio 4.10 requires dwarf-2. |
|
99 |
# AVR [Extended] COFF format requires stabs, plus an avr-objcopy run. |
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100 |
DEBUG = |
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101 |
|
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# Compiler flag to set the C Standard level. |
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103 |
# c89 = "ANSI" C |
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# gnu89 = c89 plus GCC extensions |
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105 |
# c99 = ISO C99 standard (not yet fully implemented) |
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# gnu99 = c99 plus GCC extensions |
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CSTANDARD = -std=gnu99 |
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108 |
|
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# Place -D or -U options here |
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CDEFS += -DF_CPU=$(F_CPU)UL |
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CDEFS += -DFFP |
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112 |
# for wireless library |
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113 |
ifdef USE_WIRELESS |
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CDEFS += -DROBOT |
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endif |
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116 |
|
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# Place -I, -L options here |
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CINCS = -I$(COLONYROOT)/code/lib/include/libdragonfly |
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119 |
CINCS += -L$(COLONYROOT)/code/lib/bin |
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ifdef USE_WIRELESS |
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CINCS += -I$(COLONYROOT)/code/lib/include/libwireless |
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122 |
endif |
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#---------------- Compiler Options ---------------- |
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# -g*: generate debugging information |
|
125 |
# -O*: optimization level |
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126 |
# -f...: tuning, see GCC manual and avr-libc documentation |
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127 |
# -Wall...: warning level |
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128 |
# -Wa,...: tell GCC to pass this to the assembler. |
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129 |
# -adhlns...: create assembler listing |
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CFLAGS = |
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# CFLAGS = -g$(DEBUG) |
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CFLAGS += $(CDEFS) $(CINCS) |
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133 |
CFLAGS += -O$(OPT) |
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
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CFLAGS += -Wall -Wstrict-prototypes |
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CFLAGS += -Wa,-adhlns=$(<:.c=.lst) |
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137 |
CFLAGS += $(CSTANDARD) |
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138 |
|
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#---------------- Assembler Options ---------------- |
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# -Wa,...: tell GCC to pass this to the assembler. |
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# -ahlms: create listing |
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# -gstabs: have the assembler create line number information; note that |
|
143 |
# for use in COFF files, additional information about filenames |
|
144 |
# and function names needs to be present in the assembler source |
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145 |
# files -- see avr-libc docs [FIXME: not yet described there] |
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ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
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147 |
|
|
148 |
|
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#---------------- Library Options ---------------- |
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150 |
# Minimalistic printf version |
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151 |
PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min |
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152 |
|
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153 |
# Floating point printf version (requires MATH_LIB = -lm below) |
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154 |
PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt |
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155 |
|
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156 |
# If this is left blank, then it will use the Standard printf version. |
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157 |
PRINTF_LIB = |
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#PRINTF_LIB = $(PRINTF_LIB_MIN) |
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159 |
#PRINTF_LIB = $(PRINTF_LIB_FLOAT) |
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160 |
|
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161 |
|
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162 |
# Minimalistic scanf version |
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163 |
SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min |
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164 |
|
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# Floating point + %[ scanf version (requires MATH_LIB = -lm below) |
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SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt |
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167 |
|
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# If this is left blank, then it will use the Standard scanf version. |
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SCANF_LIB = |
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#SCANF_LIB = $(SCANF_LIB_MIN) |
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#SCANF_LIB = $(SCANF_LIB_FLOAT) |
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172 |
|
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MATH_LIB = -lm |
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174 |
|
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#---------------- External Memory Options ---------------- |
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176 |
|
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# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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# used for variables (.data/.bss) and heap (malloc()). |
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#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff |
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180 |
|
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# 64 KB of external RAM, starting after internal RAM (ATmega128!), |
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# only used for heap (malloc()). |
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#EXTMEMOPTS = -Wl,--defsym=__heap_start=0x801100,--defsym=__heap_end=0x80ffff |
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184 |
|
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EXTMEMOPTS = |
|
186 |
|
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187 |
#---------------- Linker Options ---------------- |
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188 |
# -Wl,...: tell GCC to pass this to linker. |
|
189 |
# -Map: create map file |
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190 |
# --cref: add cross reference to map file |
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191 |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
|
192 |
LDFLAGS += $(EXTMEMOPTS) |
|
193 |
LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB) |
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194 |
ifdef USE_WIRELESS |
|
195 |
LDFLAGS += -lwireless |
|
196 |
endif |
|
197 |
LDFLAGS += -ldragonfly |
|
198 |
|
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199 |
|
|
200 |
#---------------- Programming Options (avrdude) ---------------- |
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201 |
|
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202 |
# Programming hardware: alf avr910 avrisp bascom bsd |
|
203 |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
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204 |
# |
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205 |
# Type: avrdude -c ? |
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# to get a full listing. |
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# |
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AVRDUDE_PROGRAMMER = avrisp |
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209 |
|
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# programmer connected to serial device |
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211 |
|
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212 |
AVRDUDE_WRITE_FLASH = -b 57600 -U flash:w:$(TARGET).hex |
|
213 |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
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214 |
|
|
215 |
|
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216 |
# Uncomment the following if you want avrdude's erase cycle counter. |
|
217 |
# Note that this counter needs to be initialized first using -Yn, |
|
218 |
# see avrdude manual. |
|
219 |
#AVRDUDE_ERASE_COUNTER = -y |
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220 |
|
|
221 |
# Uncomment the following if you do /not/ wish a verification to be |
|
222 |
# performed after programming the device. |
|
223 |
#AVRDUDE_NO_VERIFY = -V |
|
224 |
|
|
225 |
# Increase verbosity level. Please use this when submitting bug |
|
226 |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
|
227 |
# to submit bug reports. |
|
228 |
#AVRDUDE_VERBOSE = -v -v |
|
229 |
|
|
230 |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
|
231 |
AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY) |
|
232 |
AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE) |
|
233 |
AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER) |
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234 |
|
|
235 |
#don't check for device signature |
|
236 |
AVRDUDE_FLAGS += -F |
|
237 |
|
|
238 |
|
|
239 |
|
|
240 |
#---------------- Debugging Options ---------------- |
|
241 |
|
|
242 |
# For simulavr only - target MCU frequency. |
|
243 |
DEBUG_MFREQ = $(F_CPU) |
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244 |
|
|
245 |
# Set the DEBUG_UI to either gdb or insight. |
|
246 |
# DEBUG_UI = gdb |
|
247 |
DEBUG_UI = insight |
|
248 |
|
|
249 |
# Set the debugging back-end to either avarice, simulavr. |
|
250 |
DEBUG_BACKEND = avarice |
|
251 |
#DEBUG_BACKEND = simulavr |
|
252 |
|
|
253 |
# GDB Init Filename. |
|
254 |
GDBINIT_FILE = __avr_gdbinit |
|
255 |
|
|
256 |
# When using avarice settings for the JTAG |
|
257 |
JTAG_DEV = /dev/com1 |
|
258 |
|
|
259 |
# Debugging port used to communicate between GDB / avarice / simulavr. |
|
260 |
DEBUG_PORT = 4242 |
|
261 |
|
|
262 |
# Debugging host used to communicate between GDB / avarice / simulavr, normally |
|
263 |
# just set to localhost unless doing some sort of crazy debugging when |
|
264 |
# avarice is running on a different computer. |
|
265 |
DEBUG_HOST = localhost |
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266 |
|
|
267 |
|
|
268 |
|
|
269 |
#============================================================================ |
|
270 |
|
|
271 |
|
|
272 |
# Define programs and commands. |
|
273 |
SHELL = sh |
|
274 |
CC = avr-gcc |
|
275 |
OBJCOPY = avr-objcopy |
|
276 |
OBJDUMP = avr-objdump |
|
277 |
SIZE = avr-size |
|
278 |
NM = avr-nm |
|
279 |
AVRDUDE = avrdude |
|
280 |
REMOVE = rm -f |
|
281 |
REMOVEDIR = rm -rf |
|
282 |
COPY = cp |
|
283 |
WINSHELL = cmd |
|
284 |
|
|
285 |
|
|
286 |
# Define Messages |
|
287 |
# English |
|
288 |
MSG_ERRORS_NONE = Errors: none |
|
289 |
MSG_BEGIN = -------- begin -------- |
|
290 |
MSG_END = -------- end -------- |
|
291 |
MSG_SIZE_BEFORE = Size before: |
|
292 |
MSG_SIZE_AFTER = Size after: |
|
293 |
MSG_COFF = Converting to AVR COFF: |
|
294 |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
|
295 |
MSG_FLASH = Creating load file for Flash: |
|
296 |
MSG_EEPROM = Creating load file for EEPROM: |
|
297 |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
|
298 |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
|
299 |
MSG_LINKING = Linking: |
|
300 |
MSG_COMPILING = Compiling: |
|
301 |
MSG_ASSEMBLING = Assembling: |
|
302 |
MSG_CLEANING = Cleaning project: |
|
303 |
|
|
304 |
|
|
305 |
|
|
306 |
|
|
307 |
# Define all object files. |
|
308 |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
|
309 |
|
|
310 |
# Define all listing files. |
|
311 |
LST = $(SRC:.c=.lst) $(ASRC:.S=.lst) |
|
312 |
|
|
313 |
|
|
314 |
# Compiler flags to generate dependency files. |
|
315 |
GENDEPFLAGS = -MD -MP -MF .dep/$(@F).d |
|
316 |
|
|
317 |
|
|
318 |
# Combine all necessary flags and optional flags. |
|
319 |
# Add target processor to flags. |
|
320 |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS) |
|
321 |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
|
322 |
|
|
323 |
|
|
324 |
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|
325 |
|
|
326 |
|
|
327 |
# Default target. |
|
328 |
all: begin gccversion sizebefore build sizeafter end |
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329 |
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330 |
build: elf hex eep lss sym |
|
331 |
|
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332 |
elf: $(TARGET).elf |
|
333 |
hex: $(TARGET).hex |
|
334 |
eep: $(TARGET).eep |
|
335 |
lss: $(TARGET).lss |
|
336 |
sym: $(TARGET).sym |
|
337 |
|
|
338 |
|
|
339 |
|
|
340 |
# Eye candy. |
|
341 |
# AVR Studio 3.x does not check make's exit code but relies on |
|
342 |
# the following magic strings to be generated by the compile job. |
|
343 |
begin: |
|
344 |
@echo |
|
345 |
@echo $(MSG_BEGIN) |
|
346 |
|
|
347 |
end: |
|
348 |
@echo $(MSG_END) |
|
349 |
@echo |
|
350 |
|
|
351 |
|
|
352 |
# Display size of file. |
|
353 |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
|
354 |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
|
355 |
AVRMEM = avr-mem.sh $(TARGET).elf $(MCU) |
|
356 |
|
|
357 |
sizebefore: |
|
358 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \ |
|
359 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
360 |
|
|
361 |
sizeafter: |
|
362 |
@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \ |
|
363 |
$(AVRMEM) 2>/dev/null; echo; fi |
|
364 |
|
|
365 |
|
|
366 |
|
|
367 |
# Display compiler version information. |
|
368 |
gccversion : |
|
369 |
@$(CC) --version |
|
370 |
|
|
371 |
|
|
372 |
|
|
373 |
# Program the device. |
|
374 |
program: $(TARGET).hex $(TARGET).eep |
|
375 |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
|
376 |
|
|
377 |
|
|
378 |
# Generate avr-gdb config/init file which does the following: |
|
379 |
# define the reset signal, load the target file, connect to target, and set |
|
380 |
# a breakpoint at main(). |
|
381 |
gdb-config: |
|
382 |
@$(REMOVE) $(GDBINIT_FILE) |
|
383 |
@echo define reset >> $(GDBINIT_FILE) |
|
384 |
@echo SIGNAL SIGHUP >> $(GDBINIT_FILE) |
|
385 |
@echo end >> $(GDBINIT_FILE) |
|
386 |
@echo file $(TARGET).elf >> $(GDBINIT_FILE) |
|
387 |
@echo target remote $(DEBUG_HOST):$(DEBUG_PORT) >> $(GDBINIT_FILE) |
|
388 |
ifeq ($(DEBUG_BACKEND),simulavr) |
|
389 |
@echo load >> $(GDBINIT_FILE) |
|
390 |
endif |
|
391 |
@echo break main >> $(GDBINIT_FILE) |
|
392 |
|
|
393 |
debug: gdb-config $(TARGET).elf |
|
394 |
ifeq ($(DEBUG_BACKEND), avarice) |
|
395 |
@echo Starting AVaRICE - Press enter when "waiting to connect" message displays. |
|
396 |
@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \ |
|
397 |
$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT) |
|
398 |
@$(WINSHELL) /c pause |
|
399 |
|
|
400 |
else |
|
401 |
@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \ |
|
402 |
$(DEBUG_MFREQ) --port $(DEBUG_PORT) |
|
403 |
endif |
|
404 |
@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE) |
|
405 |
|
|
406 |
|
|
407 |
|
|
408 |
|
|
409 |
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. |
|
410 |
COFFCONVERT=$(OBJCOPY) --debugging \ |
|
411 |
--change-section-address .data-0x800000 \ |
|
412 |
--change-section-address .bss-0x800000 \ |
|
413 |
--change-section-address .noinit-0x800000 \ |
|
414 |
--change-section-address .eeprom-0x810000 |
|
415 |
|
|
416 |
|
|
417 |
coff: $(TARGET).elf |
|
418 |
@echo |
|
419 |
@echo $(MSG_COFF) $(TARGET).cof |
|
420 |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
|
421 |
|
|
422 |
|
|
423 |
extcoff: $(TARGET).elf |
|
424 |
@echo |
|
425 |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
|
426 |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
|
427 |
|
|
428 |
|
|
429 |
|
|
430 |
# Create final output files (.hex, .eep) from ELF output file. |
|
431 |
%.hex: %.elf |
|
432 |
@echo |
|
433 |
@echo $(MSG_FLASH) $@ |
|
434 |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
435 |
|
|
436 |
%.eep: %.elf |
|
437 |
@echo |
|
438 |
@echo $(MSG_EEPROM) $@ |
|
439 |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
|
440 |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
|
441 |
|
|
442 |
# Create extended listing file from ELF output file. |
|
443 |
%.lss: %.elf |
|
444 |
@echo |
|
445 |
@echo $(MSG_EXTENDED_LISTING) $@ |
|
446 |
$(OBJDUMP) -h -S $< > $@ |
|
447 |
|
|
448 |
# Create a symbol table from ELF output file. |
|
449 |
%.sym: %.elf |
|
450 |
@echo |
|
451 |
@echo $(MSG_SYMBOL_TABLE) $@ |
|
452 |
$(NM) -n $< > $@ |
|
453 |
|
|
454 |
|
|
455 |
|
|
456 |
# Link: create ELF output file from object files. |
|
457 |
.SECONDARY : $(TARGET).elf |
|
458 |
.PRECIOUS : $(OBJ) |
|
459 |
%.elf: $(OBJ) |
|
460 |
@echo |
|
461 |
@echo $(MSG_LINKING) $@ |
|
462 |
$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS) |
|
463 |
|
|
464 |
|
|
465 |
# Compile: create object files from C source files. |
|
466 |
%.o : %.c |
|
467 |
@echo |
|
468 |
@echo $(MSG_COMPILING) $< |
|
469 |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
470 |
|
|
471 |
|
|
472 |
# Compile: create assembler files from C source files. |
|
473 |
%.s : %.c |
|
474 |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
475 |
|
|
476 |
|
|
477 |
# Assemble: create object files from assembler source files. |
|
478 |
%.o : %.S |
|
479 |
@echo |
|
480 |
@echo $(MSG_ASSEMBLING) $< |
|
481 |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
482 |
|
|
483 |
# Create preprocessed source for use in sending a bug report. |
|
484 |
%.i : %.c |
|
485 |
$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@ |
|
486 |
|
|
487 |
|
|
488 |
# Target: clean project. |
|
489 |
clean: begin clean_list end |
|
490 |
|
|
491 |
clean_list : |
|
492 |
@echo |
|
493 |
@echo $(MSG_CLEANING) |
|
494 |
$(REMOVE) $(TARGET).hex |
|
495 |
$(REMOVE) $(TARGET).eep |
|
496 |
$(REMOVE) $(TARGET).cof |
|
497 |
$(REMOVE) $(TARGET).elf |
|
498 |
$(REMOVE) $(TARGET).map |
|
499 |
$(REMOVE) $(TARGET).sym |
|
500 |
$(REMOVE) $(TARGET).lss |
|
501 |
$(REMOVE) $(OBJ) |
|
502 |
$(REMOVE) $(LST) |
|
503 |
$(REMOVE) $(SRC:.c=.s) |
|
504 |
$(REMOVE) $(SRC:.c=.d) |
|
505 |
$(REMOVEDIR) .dep |
|
506 |
|
|
507 |
|
|
508 |
|
|
509 |
# Include the dependency files. |
|
510 |
-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*) |
|
511 |
|
|
512 |
|
|
513 |
# Listing of phony targets. |
|
514 |
.PHONY : all begin finish end sizebefore sizeafter gccversion \ |
|
515 |
build elf hex eep lss sym coff extcoff \ |
|
516 |
clean clean_list program debug gdb-config |
|
517 |
|
branches/encoders/code/lib/include/libdragonfly/spi.h | ||
---|---|---|
1 |
/** |
|
2 |
* @file spi.h |
|
3 |
* @brief Definitions for SPI |
|
4 |
* @author Colony Project, CMU Robotics Club |
|
5 |
**/ |
|
6 |
|
|
1 | 7 |
#ifndef __SPI_H__ |
2 | 8 |
#define __SPI_H__ |
3 | 9 |
|
4 | 10 |
#define DOUBLE_SCK 1 |
5 | 11 |
#define SPR0_BIT 1 |
6 |
#define LSB 1 |
|
7 |
#define MSB 0 |
|
12 |
|
|
8 | 13 |
#define MASTER 1 |
9 | 14 |
#define SLAVE 0 |
10 | 15 |
|
11 |
#define SPI_IDLE 0x00 |
|
12 |
#define SPI_SEND 0x01 |
|
13 |
#define SPI_RECV 0x02 |
|
14 |
#define SPI_BOTH 0x03 |
|
15 |
|
|
16 |
|
|
17 |
/* Pin Defines */ |
|
18 | 16 |
#define MOSI _BV(PB2) |
19 | 17 |
#define MISO _BV(PB3) |
20 |
#define SS _BV(PB0) |
|
18 |
#define SS _BV(PB0)
|
|
21 | 19 |
#define SCLK _BV(PB1) |
22 | 20 |
|
23 |
//#define size_t int |
|
24 | 21 |
typedef void (*spi_fun_recv_t)(char); |
25 |
typedef void (*spi_fun_send_t)(char); |
|
26 |
void spi_init(char mode, spi_fun_recv_t recv_func); |
|
27 |
int spi_send(char *data, int bytes); |
|
28 |
void spi_master_recv_on(void); |
|
29 |
void spi_master_recv_off(void); |
|
30 |
void spi_read_one(void); |
|
31 |
void spi_read(int bytes); |
|
22 |
typedef void (*spi_fun_recv_complete_t)(void); |
|
32 | 23 |
|
24 |
void spi_init (spi_fun_recv_t, spi_fun_recv_complete_t); |
|
25 |
void spi_transfer (char); |
|
26 |
|
|
33 | 27 |
#endif |
branches/encoders/code/lib/include/libdragonfly/dragonfly_lib.h | ||
---|---|---|
65 | 65 |
#include <bom.h> |
66 | 66 |
#include <move.h> |
67 | 67 |
#include <reset.h> |
68 |
//#include "spi.h" |
|
69 |
#include <math.h> |
|
68 |
#include <math.h> |
|
70 | 69 |
|
70 |
#include <spi.h> |
|
71 |
#include <encoders.h> |
|
72 |
|
|
71 | 73 |
#endif |
72 | 74 |
|
branches/encoders/code/lib/src/libdragonfly/encoders.c | ||
---|---|---|
1 |
#include "encoders.h" |
|
2 |
#include "spi.h" |
|
3 |
#include <dragonfly_lib.h> |
|
4 |
#include "ring_buffer.h" |
|
1 | 5 |
|
2 |
//Dummy file for now. |
|
6 |
unsigned int left_data_buf; |
|
7 |
unsigned int right_data_buf; |
|
8 |
char buf_index; |
|
9 |
|
|
10 |
unsigned int left_data; |
|
11 |
unsigned int right_data; |
|
12 |
|
|
13 |
unsigned int left_data_array[BUFFER_SIZE]; |
|
14 |
unsigned int right_data_array[BUFFER_SIZE]; |
|
15 |
int left_data_idx; |
|
16 |
int right_data_idx; |
|
17 |
|
|
18 |
int left_dx; |
|
19 |
int right_dx; |
|
20 |
long int timecount; |
|
21 |
|
|
22 |
void encoder_recv(char data); |
|
23 |
|
|
24 |
//Helper Function Prototypes |
|
25 |
inline void left_data_array_put(unsigned short int value); |
|
26 |
inline unsigned int left_data_array_top(void); |
|
27 |
inline unsigned int left_data_array_prev(void); |
|
28 |
inline unsigned int left_data_array_bottom(void); |
|
29 |
|
|
30 |
inline void right_data_array_put(unsigned short int value); |
|
31 |
inline unsigned int right_data_array_top(void); |
|
32 |
inline unsigned int right_data_array_prev(void); |
|
33 |
inline unsigned int right_data_array_bottom(void); |
|
34 |
|
|
35 |
//RING_BUFFER_NEW(enc_buffer, BUFFER_SIZE, short int); |
|
36 |
|
|
37 |
void encoder_recv_complete(void); |
|
38 |
|
|
39 |
void encoder_recv_complete(){ |
|
40 |
spi_transfer(5); |
|
41 |
} |
|
42 |
|
|
43 |
|
|
44 |
void encoders_init(void){ |
|
45 |
int i; |
|
46 |
|
|
47 |
spi_init(encoder_recv, encoder_recv_complete); |
|
48 |
buf_index = 0; |
|
49 |
left_data_buf = 0; |
|
50 |
right_data_buf= 0; |
|
51 |
left_data = -1; |
|
52 |
right_data = -1; |
|
53 |
//RING_BUFFER_INIT(enc_buffer,BUFFER_SIZE); |
|
54 |
left_data_idx = 0; |
|
55 |
right_data_idx = 0; |
|
56 |
for(i = 0; i < BUFFER_SIZE; i++) { |
|
57 |
left_data_array[i] = 0; |
|
58 |
} |
|
59 |
for(i = 0; i < BUFFER_SIZE; i++) { |
|
60 |
right_data_array[i] = 0; |
|
61 |
} |
|
62 |
spi_transfer(5); |
|
63 |
} |
|
64 |
|
|
65 |
int encoder_read(char encoder){ |
|
66 |
if(encoder==LEFT) |
|
67 |
return left_data; |
|
68 |
else if(encoder==RIGHT) |
|
69 |
return right_data; |
|
70 |
else return -1; |
|
71 |
} |
|
72 |
|
|
73 |
int encoder_change(char encoder){ |
|
74 |
return 0; |
|
75 |
} |
|
76 |
|
|
77 |
char encoder_direction(char encoder){ |
|
78 |
return 0; |
|
79 |
} |
|
80 |
|
|
81 |
int encoder_get_dx(char encoder) { |
|
82 |
if(encoder==LEFT) |
|
83 |
return left_dx; |
|
84 |
else if(encoder==RIGHT) |
|
85 |
return right_dx; |
|
86 |
else return -1; |
|
87 |
} |
|
88 |
|
|
89 |
void encoder_rst_dx(char encoder) { |
|
90 |
if(encoder==LEFT) |
|
91 |
left_dx = 0; |
|
92 |
else if(encoder==RIGHT) |
|
93 |
right_dx = 0; |
|
94 |
} |
|
95 |
|
|
96 |
int encoder_get_tc(void) { |
|
97 |
return timecount; |
|
98 |
} |
|
99 |
|
|
100 |
void encoder_rst_tc(void) { |
|
101 |
timecount = 0; |
|
102 |
} |
|
103 |
|
|
104 |
|
|
105 |
//Full reads occur every 40 microseconds. This function should be called |
|
106 |
//every 8 microseconds. |
|
107 |
void encoder_recv(char data){ |
|
108 |
//usb_puti(buf_index); |
|
109 |
short int dx; |
|
110 |
|
|
111 |
if(buf_index < 2) |
|
112 |
right_data_buf |= (((short)data) << ((1-buf_index)*8)) & (0xFF<<(1-buf_index)); |
|
113 |
|
|
114 |
else if (buf_index == 2) |
|
115 |
left_data_buf |= (((short)data) << 9) & (0x7F << 9); |
|
116 |
|
|
117 |
else if (buf_index == 3) |
|
118 |
left_data_buf |= (((short)data) << 1) & (0xFF<<1); |
|
119 |
|
|
120 |
else if (buf_index == 4) |
|
121 |
left_data_buf |= (((short)data)>>7) & 0x1; |
|
122 |
|
|
123 |
|
|
124 |
buf_index = (buf_index + 1) % 5; |
|
125 |
|
|
126 |
if(buf_index==0){ |
|
127 |
//if(left_data_buf & (OCF | COF | LIN)) |
|
128 |
// left_data = INVALID; |
|
129 |
|
|
130 |
/*else*/ if(((left_data_buf & MagINCn) > 0) && ((left_data_buf & MagDECn) > 0)) |
|
131 |
left_data = MAGNET_FAILURE; |
|
132 |
|
|
133 |
else |
|
134 |
left_data = (left_data_buf>>5) & 1023; |
|
135 |
|
|
136 |
if(right_data_buf & (OCF | COF | LIN)) |
|
137 |
right_data = INVALID; |
|
138 |
|
|
139 |
else if ( ((left_data_buf & MagINCn) > 0) && ((left_data_buf & MagDECn) > 0)) |
|
140 |
left_data = MAGNET_FAILURE; |
|
141 |
|
|
142 |
else right_data = (right_data_buf>>5) & 1023; |
|
143 |
|
|
144 |
usb_puts("[");usb_puti(left_data);usb_puts(",");usb_puti(right_data);usb_puts("]\r\n"); |
|
145 |
|
|
146 |
left_data_buf = 0; |
|
147 |
right_data_buf = 0; |
|
148 |
|
|
149 |
} |
|
150 |
|
|
151 |
|
|
152 |
if(left_data < INVALID) { |
|
153 |
//Put new data onto data array |
|
154 |
left_data_array_put(left_data); |
|
155 |
|
|
156 |
//Adjust left accumulator |
|
157 |
dx = left_data - left_data_array_prev(); |
|
158 |
if(dx > 5) { //underflow |
|
159 |
left_dx += dx - 1023; |
|
160 |
} |
|
161 |
else if(dx < -5) { //overflow |
|
162 |
left_dx += dx + 1023; |
|
163 |
} |
|
164 |
else { |
|
165 |
left_dx += dx; |
|
166 |
} |
|
167 |
} |
|
168 |
|
|
169 |
if(right_data < INVALID) { |
|
170 |
//Put new data onto data array |
|
171 |
right_data_array_put(right_data); |
|
172 |
|
|
173 |
//Adjust right accumulator |
|
174 |
dx = right_data - right_data_array_prev(); |
|
175 |
if(dx > 5) { //underflow |
|
176 |
right_dx += dx - 1023; |
|
177 |
} |
|
178 |
else if(dx < -5) { //overflow |
|
179 |
right_dx += dx + 1023; |
|
180 |
} |
|
181 |
else { |
|
182 |
right_dx += dx; |
|
183 |
} |
|
184 |
} |
|
185 |
|
|
186 |
//Increment timecount accumulator |
|
187 |
timecount++; |
|
188 |
} |
|
189 |
|
|
190 |
//Helper Functions |
|
191 |
inline void left_data_array_put(unsigned short int value) { |
|
192 |
if(left_data_idx == BUFFER_SIZE-1) |
|
193 |
left_data_idx = 0; |
|
194 |
else |
|
195 |
left_data_idx++; |
|
196 |
left_data_array[left_data_idx] = value; |
|
197 |
} |
|
198 |
|
|
199 |
inline unsigned int left_data_array_top(void) { |
|
200 |
return left_data_array[left_data_idx]; |
|
201 |
} |
|
202 |
|
|
203 |
inline unsigned int left_data_array_prev(void) { |
|
204 |
if(left_data_idx == 0) |
|
205 |
return left_data_array[BUFFER_SIZE-1]; |
|
206 |
else |
|
207 |
return left_data_array[left_data_idx - 1]; |
|
208 |
} |
|
209 |
|
|
210 |
inline unsigned int left_data_array_bottom(void) { |
|
211 |
if(left_data_idx == BUFFER_SIZE-1) |
|
212 |
return left_data_array[0]; |
|
213 |
else |
|
214 |
return left_data_array[left_data_idx + 1]; |
|
215 |
} |
|
216 |
|
|
217 |
inline void right_data_array_put(unsigned short int value) { |
|
218 |
if(right_data_idx == BUFFER_SIZE-1) |
|
219 |
right_data_idx = 0; |
|
220 |
else |
|
221 |
right_data_idx++; |
|
222 |
right_data_array[right_data_idx] = value; |
|
223 |
} |
|
224 |
|
|
225 |
inline unsigned int right_data_array_top(void) { |
|
226 |
return right_data_array[right_data_idx]; |
|
227 |
} |
|
228 |
|
|
229 |
inline unsigned int right_data_array_prev(void) { |
|
230 |
if(right_data_idx == 0) |
|
231 |
return right_data_array[BUFFER_SIZE-1]; |
|
232 |
else |
|
233 |
return right_data_array[right_data_idx - 1]; |
|
234 |
} |
|
235 |
|
|
236 |
inline unsigned int right_data_array_bottom(void) { |
|
237 |
if(right_data_idx == BUFFER_SIZE-1) |
|
238 |
return right_data_array[0]; |
|
239 |
else |
|
240 |
return right_data_array[right_data_idx + 1]; |
|
241 |
} |
branches/encoders/code/lib/src/libdragonfly/spi.c | ||
---|---|---|
1 |
/* @file spi.c |
|
2 |
* @brief |
|
3 |
* SPI module |
|
4 |
* @bug broken |
|
5 |
*/ |
|
1 |
/** |
|
2 |
* @file spi.c |
|
3 |
* @brief Basic SPI module to handle encoders |
|
4 |
* @author Colony Project, CMU Robotics Club |
|
5 |
* @bug Not tested |
|
6 |
* Need to move spi.h include into dragonfly_lib.h when stable |
|
7 |
**/ |
|
6 | 8 |
|
7 | 9 |
#include <avr/interrupt.h> |
8 |
#include "ring_buffer.h"
|
|
10 |
#include <dragonfly_lib.h>
|
|
9 | 11 |
#include "spi.h" |
10 |
#include <dragonfly_lib.h> |
|
11 | 12 |
|
13 |
static volatile char spi_bytes; /* number of bytes to read */ |
|
14 |
static spi_fun_recv_t spi_recv_func; /* byte handler */ |
|
15 |
static spi_fun_recv_complete_t spi_recv_complete_func; /*transmission completion handler */ |
|
12 | 16 |
|
13 |
/* |
|
14 |
SS = PB0 |
|
15 |
SCK = PB1 |
|
16 |
MOSI = PB2 |
|
17 |
MISO = PB3 |
|
18 |
*/ |
|
19 |
/* Controls clock freq. see Table 72 of specs*/ |
|
17 |
void spi_init (spi_fun_recv_t recv_func, spi_fun_recv_complete_t recv_complete_func) |
|
18 |
{ |
|
19 |
/* Enable Interrupt, Enable SPI Module, MSB First, Master Mode, Clock div = 64 */ |
|
20 |
SPCR = _BV(SPE) | _BV(SPIE) | _BV(DORD) | _BV(MSTR) | _BV(SPR1) | _BV(SPR0); |
|
21 |
SPSR = _BV(SPI2X); |
|
20 | 22 |
|
21 |
#define DOUBLE_SCK 1 |
|
22 |
#define SPR0_BIT 1 |
|
23 |
#define SPR1_BIT 0 |
|
24 |
#define LSB 1 |
|
25 |
#define MSB 0 |
|
26 |
|
|
27 |
|
|
28 |
RING_BUFFER_NEW(spi_buffer, 16, char, spi_send_buff, spi_rec_buff); |
|
29 |
volatile char spi_status; |
|
30 |
char spi_mode; |
|
31 |
static spi_fun_recv_t spi_recv_function; |
|
32 |
//static spi_fun_send_t spi_send_function; |
|
33 |
|
|
34 |
|
|
35 |
void spi_init(char mode, spi_fun_recv_t recv_func) { |
|
36 |
usb_puts("spi_init: start\n"); |
|
37 |
|
|
38 |
spi_mode = mode; |
|
39 |
|
|
40 |
RING_BUFFER_CLEAR(spi_send_buff); |
|
41 |
RING_BUFFER_CLEAR(spi_rec_buff); |
|
42 |
|
|
43 |
spi_recv_function = recv_func; |
|
44 |
//spi_send_function = send_func; |
|
45 |
|
|
46 |
/* Enables the SPI module |
|
47 |
* Enable Interrupt, Enable SPI Module, LSB First, Master Mode, Clock div = 64 |
|
48 |
*/ |
|
49 |
SPCR = 0x00; |
|
50 |
SPCR = _BV(SPIE) | _BV(SPE) | _BV(DORD) | _BV(MSTR)| _BV(SPR1) | _BV(SPR0); |
|
51 |
SPSR = 0x00; |
|
52 |
SPSR = _BV(SPI2X); |
|
53 |
|
|
54 |
spi_status = SPI_IDLE; |
|
55 |
|
|
56 | 23 |
/* Set SCLK, SS, MOSI as outputs. MISO as input */ |
57 |
if(mode == MASTER) { |
|
58 |
DDRB |= MOSI | SCLK | SS; |
|
59 |
DDRB &= ~MISO; |
|
60 |
PORTB |= SS; //Keep SS High until transmit |
|
61 |
/* Set SCLK, SS, MOSI as inputs. MISO as output */ |
|
62 |
} else { |
|
63 |
DDRB &= ~MOSI & ~SCLK & ~SS; |
|
64 |
DDRB |= MISO; |
|
65 |
} |
|
66 |
|
|
67 |
//sei(); |
|
68 |
usb_puts("spi_init: end\n"); |
|
69 |
} |
|
70 |
|
|
71 |
int spi_send(char *data, int bytes) { |
|
72 |
|
|
73 |
int i; |
|
74 |
|
|
75 |
if(bytes == 0) |
|
76 |
return -1; /* ...needed?*/ |
|
24 |
DDRB = MOSI | SCLK | SS; |
|
25 |
DDRB &= ~MISO; |
|
77 | 26 |
|
78 |
//Prevent race condition on the buffer |
|
79 |
cli(); |
|
80 |
for(i = 1; i < bytes; i++) { |
|
81 |
// Fail if the buffer is full |
|
82 |
if(RING_BUFFER_FULL(spi_send_buff)) { |
|
83 |
sei(); |
|
84 |
return -1; |
|
85 |
} |
|
86 |
|
|
87 |
RING_BUFFER_ADD(spi_send_buff, data[i]); |
|
88 |
} |
|
89 |
|
|
90 |
sei(); |
|
91 |
|
|
92 |
spi_status |= SPI_SEND; |
|
93 |
|
|
94 |
if (spi_mode == MASTER ){ |
|
95 |
PORTB &= ~SS; //Select slave |
|
96 |
} |
|
97 |
|
|
98 |
SPDR = *data; |
|
99 |
|
|
100 |
if(spi_mode) |
|
101 |
usb_puts("MASTER"); |
|
102 |
else |
|
103 |
usb_puts("SLAVE"); |
|
104 |
|
|
105 |
usb_puts(": sending [");usb_putc(*data);usb_puts("]\n\r"); |
|
106 |
|
|
107 |
//sei(); |
|
108 |
|
|
109 |
return 1; |
|
110 |
} |
|
27 |
/* Keep SS high until transmit */ |
|
28 |
PORTB |= SS; |
|
111 | 29 |
|
112 |
void spi_read(int bytes) { |
|
113 |
|
|
114 |
cli(); |
|
115 |
for(int i = 1; i < bytes; i++) { |
|
116 |
// Fail if the buffer is full |
|
117 |
if(RING_BUFFER_FULL(spi_send_buff)) { |
|
118 |
sei(); |
|
119 |
return; |
|
120 |
} |
|
121 |
|
|
122 |
RING_BUFFER_ADD(spi_send_buff, '\n'); |
|
123 |
} |
|
124 |
|
|
125 |
sei(); |
|
126 |
|
|
127 |
spi_status |= SPI_RECV; |
|
128 |
|
|
129 |
if (spi_mode == MASTER ){ |
|
130 |
PORTB &= ~SS; //Select slave |
|
131 |
} |
|
132 |
|
|
133 |
SPDR = '\n'; |
|
134 |
|
|
30 |
/* set function to be executed when we receive a byte */ |
|
31 |
spi_recv_func = recv_func; |
|
32 |
spi_recv_complete_func = recv_complete_func; |
|
33 |
spi_bytes = 0; |
|
135 | 34 |
} |
136 | 35 |
|
137 |
void spi_read_one(void) |
|
36 |
/* Transfer a given byte to slave and receive a byte */ |
|
37 |
void spi_transfer(char bytes) |
|
138 | 38 |
{ |
139 |
PORTB &= ~SS; |
|
140 |
SPDR = 'x'; |
|
39 |
spi_bytes = bytes; |
|
40 |
PORTB &= ~SS; /* Set SS low to initiate transmission */ |
|
41 |
SPDR = 0xff; /* Initiate data transmision */ |
|
141 | 42 |
} |
142 | 43 |
|
143 |
ISR(SIG_SPI) { |
|
144 |
char c; |
|
145 |
|
|
146 |
//The clock is running so dequeue another byte to send |
|
147 |
if(!RING_BUFFER_EMPTY(spi_send_buff)) {//cheap way to test if SPI_SEND |
|
148 |
RING_BUFFER_REMOVE(spi_send_buff, c); |
|
149 |
SPDR = c; |
|
150 |
|
|
151 |
//If we're the master and we're done sending, end the transmission |
|
152 |
} else if (spi_mode == MASTER) { |
|
44 |
ISR(SIG_SPI) |
|
45 |
{ |
|
46 |
//usb_puts("Interrupt"); |
|
47 |
/* only handle intterupt when we are expecting data */ |
|
48 |
if(spi_bytes > 0){ |
|
49 |
/* process byte */ |
|
50 |
spi_recv_func(SPDR); |
|
51 |
/* if we've read all the bytes, set SS high to end transmission, |
|
52 |
* otherwise get the next byte */ |
|
53 |
if(--spi_bytes == 0){ |
|
54 |
//usb_puts("Read all bytes\r\n"); |
|
153 | 55 |
PORTB |= SS; |
154 |
} |
|
155 |
|
|
156 |
//You always receive something. You need to handle it. |
|
157 |
spi_recv_function(SPDR); |
|
158 |
|
|
159 |
/* |
|
160 |
if(spi_status & SPI_SEND) { |
|
161 |
spi_status ^= SPI_SEND; |
|
162 |
|
|
163 |
if (spi_mode == MASTER) { |
|
164 |
PORTB |= SS; |
|
165 |
} |
|
166 |
} else if (spi_status & SPI_RECV) { |
|
167 |
|
|
56 |
spi_recv_complete_func(); |
|
57 |
}else { |
|
58 |
//usb_puts("There are this many bytes left: "); usb_puti(spi_bytes);usb_puts("\r\n"); |
|
59 |
SPDR = 0xff; |
|
60 |
} |
|
168 | 61 |
} |
169 |
*/ |
|
170 |
//End the transmission if we are not sending or recieving anymore |
|
171 |
//} else if(spi_mode == MASTER) { |
|
172 |
// PORTB |= SS; |
|
173 |
//} |
|
174 |
|
|
175 |
//Call the recv function whenver we recieve a byte |
|
176 |
//if(spi_status == SPI_RECV){ |
|
177 |
//spi_recv_function(SPDR); |
|
178 |
//if(spi_mode == MASTER) |
|
179 |
//PORTB |= SS; |
|
180 |
//} |
|
181 | 62 |
} |
182 |
|
branches/encoders/code/projects/libdragonfly/dragonfly_lib.h | ||
---|---|---|
65 | 65 |
#include <bom.h> |
66 | 66 |
#include <move.h> |
67 | 67 |
#include <reset.h> |
68 |
//#include "spi.h" |
|
69 |
#include <math.h> |
|
68 |
#include <math.h> |
|
70 | 69 |
|
70 |
#include <spi.h> |
|
71 |
#include <encoders.h> |
|
72 |
|
|
71 | 73 |
#endif |
72 | 74 |
|
branches/encoders/code/projects/libdragonfly/spi.c | ||
---|---|---|
12 | 12 |
|
13 | 13 |
static volatile char spi_bytes; /* number of bytes to read */ |
14 | 14 |
static spi_fun_recv_t spi_recv_func; /* byte handler */ |
15 |
static spi_fun_recv_complete_t spi_recv_complete_func; /*transmission completion handler */ |
|
15 | 16 |
|
16 |
void spi_init (spi_fun_recv_t recv_func) |
|
17 |
void spi_init (spi_fun_recv_t recv_func, spi_fun_recv_complete_t recv_complete_func)
|
|
17 | 18 |
{ |
18 | 19 |
/* Enable Interrupt, Enable SPI Module, MSB First, Master Mode, Clock div = 64 */ |
19 | 20 |
SPCR = _BV(SPE) | _BV(SPIE) | _BV(DORD) | _BV(MSTR) | _BV(SPR1) | _BV(SPR0); |
... | ... | |
28 | 29 |
|
29 | 30 |
/* set function to be executed when we receive a byte */ |
30 | 31 |
spi_recv_func = recv_func; |
32 |
spi_recv_complete_func = recv_complete_func; |
|
31 | 33 |
spi_bytes = 0; |
32 | 34 |
} |
33 | 35 |
|
... | ... | |
41 | 43 |
|
42 | 44 |
ISR(SIG_SPI) |
43 | 45 |
{ |
46 |
//usb_puts("Interrupt"); |
|
44 | 47 |
/* only handle intterupt when we are expecting data */ |
45 | 48 |
if(spi_bytes > 0){ |
46 | 49 |
/* process byte */ |
47 | 50 |
spi_recv_func(SPDR); |
48 | 51 |
/* if we've read all the bytes, set SS high to end transmission, |
49 | 52 |
* otherwise get the next byte */ |
50 |
if(--spi_bytes == 0) |
|
53 |
if(--spi_bytes == 0){ |
|
54 |
//usb_puts("Read all bytes\r\n"); |
|
51 | 55 |
PORTB |= SS; |
52 |
else |
|
56 |
spi_recv_complete_func(); |
|
57 |
}else { |
|
58 |
//usb_puts("There are this many bytes left: "); usb_puti(spi_bytes);usb_puts("\r\n"); |
|
53 | 59 |
SPDR = 0xff; |
60 |
} |
|
54 | 61 |
} |
55 | 62 |
} |
branches/encoders/code/projects/libdragonfly/spi.h | ||
---|---|---|
19 | 19 |
#define SCLK _BV(PB1) |
20 | 20 |
|
21 | 21 |
typedef void (*spi_fun_recv_t)(char); |
22 |
typedef void (*spi_fun_recv_complete_t)(void); |
|
22 | 23 |
|
23 |
void spi_init (spi_fun_recv_t); |
|
24 |
void spi_init (spi_fun_recv_t, spi_fun_recv_complete_t);
|
|
24 | 25 |
void spi_transfer (char); |
25 | 26 |
|
26 | 27 |
#endif |
branches/encoders/code/projects/libdragonfly/encoders.c | ||
---|---|---|
3 | 3 |
#include <dragonfly_lib.h> |
4 | 4 |
#include "ring_buffer.h" |
5 | 5 |
|
6 |
unsigned short int left_data_buf;
|
|
7 |
unsigned short int right_data_buf;
|
|
6 |
unsigned int left_data_buf; |
|
7 |
unsigned int right_data_buf; |
|
8 | 8 |
char buf_index; |
9 | 9 |
|
10 |
unsigned short int left_data;
|
|
11 |
unsigned short int right_data;
|
|
10 |
unsigned int left_data; |
|
11 |
unsigned int right_data; |
|
12 | 12 |
|
13 |
unsigned short int left_data_array[BUFFER_SIZE];
|
|
14 |
unsigned short int right_data_array[BUFFER_SIZE];
|
|
13 |
unsigned int left_data_array[BUFFER_SIZE]; |
|
14 |
unsigned int right_data_array[BUFFER_SIZE]; |
|
15 | 15 |
int left_data_idx; |
16 | 16 |
int right_data_idx; |
17 | 17 |
|
... | ... | |
23 | 23 |
|
24 | 24 |
//Helper Function Prototypes |
25 | 25 |
inline void left_data_array_put(unsigned short int value); |
26 |
inline unsigned short int left_data_array_top(void);
|
|
27 |
inline unsigned short int left_data_array_prev(void);
|
|
28 |
inline unsigned short int left_data_array_bottom(void);
|
|
26 |
inline unsigned int left_data_array_top(void); |
|
27 |
inline unsigned int left_data_array_prev(void); |
|
28 |
inline unsigned int left_data_array_bottom(void); |
|
29 | 29 |
|
30 | 30 |
inline void right_data_array_put(unsigned short int value); |
31 |
inline unsigned short int right_data_array_top(void);
|
|
32 |
inline unsigned short int right_data_array_prev(void);
|
|
33 |
inline unsigned short int right_data_array_bottom(void);
|
|
31 |
inline unsigned int right_data_array_top(void); |
|
32 |
inline unsigned int right_data_array_prev(void); |
|
33 |
inline unsigned int right_data_array_bottom(void); |
|
34 | 34 |
|
35 | 35 |
//RING_BUFFER_NEW(enc_buffer, BUFFER_SIZE, short int); |
36 | 36 |
|
37 |
void encoder_recv_complete(void); |
|
38 |
|
|
39 |
void encoder_recv_complete(){ |
|
40 |
spi_transfer(5); |
|
41 |
} |
|
42 |
|
|
43 |
|
|
37 | 44 |
void encoders_init(void){ |
38 | 45 |
int i; |
39 | 46 |
|
40 |
spi_init(encoder_recv); |
|
47 |
spi_init(encoder_recv, encoder_recv_complete);
|
|
41 | 48 |
buf_index = 0; |
42 | 49 |
left_data_buf = 0; |
43 | 50 |
right_data_buf= 0; |
... | ... | |
52 | 59 |
for(i = 0; i < BUFFER_SIZE; i++) { |
53 | 60 |
right_data_array[i] = 0; |
54 | 61 |
} |
62 |
spi_transfer(5); |
|
55 | 63 |
} |
56 | 64 |
|
57 | 65 |
int encoder_read(char encoder){ |
... | ... | |
94 | 102 |
} |
95 | 103 |
|
96 | 104 |
|
97 |
|
|
98 | 105 |
//Full reads occur every 40 microseconds. This function should be called |
99 | 106 |
//every 8 microseconds. |
100 | 107 |
void encoder_recv(char data){ |
108 |
//usb_puti(buf_index); |
|
101 | 109 |
short int dx; |
102 | 110 |
|
103 | 111 |
if(buf_index < 2) |
... | ... | |
122 | 130 |
else if(((left_data_buf & MagINCn) > 0) && ((left_data_buf & MagDECn) > 0)) |
123 | 131 |
left_data = MAGNET_FAILURE; |
124 | 132 |
|
125 |
else left_data = (left_data_buf>>5) & 1023; |
|
133 |
else |
|
134 |
left_data = (left_data_buf>>5) & 1023; |
|
126 | 135 |
|
127 | 136 |
if(right_data_buf & (OCF | COF | LIN)) |
128 | 137 |
right_data = INVALID; |
... | ... | |
132 | 141 |
|
133 | 142 |
else right_data = (right_data_buf>>5) & 1023; |
134 | 143 |
|
135 |
|
|
144 |
//usb_puts("[");usb_puti(left_data);usb_puts(",");usb_puti(right_data);usb_puts("]\r\n"); |
|
136 | 145 |
|
137 | 146 |
left_data_buf = 0; |
138 | 147 |
right_data_buf = 0; |
148 |
|
|
139 | 149 |
} |
140 | 150 |
|
141 | 151 |
|
... | ... | |
186 | 196 |
left_data_array[left_data_idx] = value; |
187 | 197 |
} |
188 | 198 |
|
189 |
inline unsigned short int left_data_array_top(void) {
|
|
199 |
inline unsigned int left_data_array_top(void) { |
|
190 | 200 |
return left_data_array[left_data_idx]; |
191 | 201 |
} |
192 | 202 |
|
193 |
inline unsigned short int left_data_array_prev(void) {
|
|
203 |
inline unsigned int left_data_array_prev(void) { |
|
194 | 204 |
if(left_data_idx == 0) |
195 | 205 |
return left_data_array[BUFFER_SIZE-1]; |
196 | 206 |
else |
197 | 207 |
return left_data_array[left_data_idx - 1]; |
198 | 208 |
} |
199 | 209 |
|
200 |
inline unsigned short int left_data_array_bottom(void) {
|
|
210 |
inline unsigned int left_data_array_bottom(void) { |
|
201 | 211 |
if(left_data_idx == BUFFER_SIZE-1) |
202 | 212 |
return left_data_array[0]; |
203 | 213 |
else |
... | ... | |
212 | 222 |
right_data_array[right_data_idx] = value; |
213 | 223 |
} |
214 | 224 |
|
215 |
inline unsigned short int right_data_array_top(void) {
|
|
225 |
inline unsigned int right_data_array_top(void) { |
|
216 | 226 |
return right_data_array[right_data_idx]; |
217 | 227 |
} |
218 | 228 |
|
219 |
inline unsigned short int right_data_array_prev(void) {
|
|
229 |
inline unsigned int right_data_array_prev(void) { |
|
220 | 230 |
if(right_data_idx == 0) |
221 | 231 |
return right_data_array[BUFFER_SIZE-1]; |
222 | 232 |
else |
223 | 233 |
return right_data_array[right_data_idx - 1]; |
224 | 234 |
} |
225 | 235 |
|
226 |
inline unsigned short int right_data_array_bottom(void) {
|
|
236 |
inline unsigned int right_data_array_bottom(void) { |
|
227 | 237 |
if(right_data_idx == BUFFER_SIZE-1) |
228 | 238 |
return right_data_array[0]; |
229 | 239 |
else |
branches/encoders/code/projects/libdragonfly/encoders.h | ||
---|---|---|
1 |
#ifndef __ENCODERS_H__ |
|
2 |
#define __ENCODERS_H__ |
|
3 |
|
|
4 |
|
|
1 | 5 |
#define RIGHT 1 |
2 | 6 |
#ifndef LEFT |
3 | 7 |
#define LEFT 0 |
... | ... | |
20 | 24 |
|
21 | 25 |
#define BUFFER_SIZE 23 |
22 | 26 |
|
23 |
void encoder_init(void); |
|
27 |
void encoders_init(void);
|
|
24 | 28 |
int encoder_read(char encoder); |
25 | 29 |
char encoder_direction(char encoder); |
26 | 30 |
|
27 | 31 |
int encoder_get_dx(char encoder); |
28 | 32 |
void encoder_rst_dx(char encoder); |
29 | 33 |
int encoder_get_tc(void); |
30 |
void encoder_rst_tc(void); |
|
34 |
void encoder_rst_tc(void); |
|
35 |
|
|
36 |
#endif |
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