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
| encoders.c | ||
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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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//Dummy file for now. |
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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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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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spi_transfer(5); |
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} |
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void encoders_init(void){
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int i; |
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spi_init(encoder_recv, 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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//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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//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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if(buf_index < 2) |
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right_data_buf |= (((short)data) << ((1-buf_index)*8)) & (0xFF<<(1-buf_index)); |
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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 & (OCF | COF | LIN)) |
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// left_data = INVALID; |
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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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else |
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left_data = (left_data_buf>>5) & 1023; |
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if(right_data_buf & (OCF | COF | LIN)) |
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right_data = INVALID; |
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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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else right_data = (right_data_buf>>5) & 1023; |
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usb_puts("[");usb_puti(left_data);usb_puts(",");usb_puti(right_data);usb_puts("]\r\n");
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left_data_buf = 0; |
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right_data_buf = 0; |
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} |
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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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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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} |
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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(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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//Increment timecount accumulator |
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timecount++; |
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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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} |
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Also available in: Unified diff