Revision 844
Added some debug statements which SHOULD BE REMOVED UPON MOVING TO TRUNK
| branches/encoders/code/lib/src/libdragonfly/encoders.c | ||
|---|---|---|
| 5 | 5 |
|
| 6 | 6 |
unsigned int left_data_buf; |
| 7 | 7 |
unsigned int right_data_buf; |
| 8 |
char buf_index; |
|
| 8 |
char encoder_buf_index;
|
|
| 9 | 9 |
|
| 10 | 10 |
unsigned int left_data; |
| 11 | 11 |
unsigned int right_data; |
| ... | ... | |
| 43 | 43 |
void encoder_recv_complete(void); |
| 44 | 44 |
|
| 45 | 45 |
void encoder_recv_complete(){
|
| 46 |
|
|
| 46 |
encoder_buf_index = 0; |
|
| 47 | 47 |
// usb_puts("[");usb_puti(left_dx);usb_puts(",");usb_puti(right_dx);usb_puts("]\r\n");
|
| 48 | 48 |
// usb_puts("\r\n");
|
| 49 | 49 |
data_ready++; |
| ... | ... | |
| 70 | 70 |
data_ready=0; |
| 71 | 71 |
|
| 72 | 72 |
spi_init(encoder_recv/*put_bin*/, encoder_recv_complete); |
| 73 |
buf_index = 0; |
|
| 73 |
encoder_buf_index = 0;
|
|
| 74 | 74 |
left_data_buf = 0; |
| 75 | 75 |
right_data_buf= 0; |
| 76 | 76 |
left_data = -1; |
| ... | ... | |
| 90 | 90 |
right_data_array[i] = 0; |
| 91 | 91 |
} |
| 92 | 92 |
spi_transfer(5); |
| 93 |
usb_puts("\tencoders.c Debug: ENCODERS INITIALIZED\n\r");
|
|
| 93 | 94 |
} |
| 94 | 95 |
|
| 95 | 96 |
/** |
| ... | ... | |
| 101 | 102 |
* @return the value of the specified encoder |
| 102 | 103 |
**/ |
| 103 | 104 |
int encoder_read(char encoder){
|
| 104 |
if(encoder==LEFT) |
|
| 105 |
if(encoder==LEFT){
|
|
| 106 |
usb_puts("\tencoders.c Debug: PRINTING LEFT ENCODER VALUE\n\r");
|
|
| 105 | 107 |
return left_data; |
| 106 |
else if(encoder==RIGHT) |
|
| 108 |
} |
|
| 109 |
else if(encoder==RIGHT){
|
|
| 110 |
usb_puts("\tencoders.c Debug: PRINTING RIGHT ENCODER VALUE\n\r");
|
|
| 107 | 111 |
return right_data; |
| 108 |
else return -1; |
|
| 112 |
} |
|
| 113 |
else{
|
|
| 114 |
usb_puts("\tencoders.c Debug: INVALID ENCODER - USE LEFT/RIGHT\n\r");
|
|
| 115 |
return -1; |
|
| 116 |
} |
|
| 109 | 117 |
} |
| 110 | 118 |
|
| 111 | 119 |
int encoder_change(char encoder){
|
| ... | ... | |
| 201 | 209 |
|
| 202 | 210 |
//Parse the encoder data, comes in over 5 bytes 16 bits per encoder, |
| 203 | 211 |
// second is offset by 1 bit. |
| 204 |
switch(buf_index){
|
|
| 212 |
switch(encoder_buf_index){
|
|
| 205 | 213 |
case 0: |
| 206 | 214 |
right_data_buf |= ((short)data)<<8 & 0xff00; |
| 207 | 215 |
break; |
| ... | ... | |
| 217 | 225 |
case 4: left_data_buf |= (((short)data)>>7) & 0x1; |
| 218 | 226 |
} |
| 219 | 227 |
|
| 220 |
buf_index = (buf_index + 1) % 5;
|
|
| 228 |
encoder_buf_index = (encoder_buf_index + 1) % 5;
|
|
| 221 | 229 |
|
| 222 |
if(buf_index==0) {
|
|
| 230 |
if(encoder_buf_index==0) {
|
|
| 223 | 231 |
|
| 224 | 232 |
if(left_data_buf & (COF | LIN) || !(left_data_buf & OCF)) left_data = INVALID; |
| 225 | 233 |
else if(((left_data_buf & MagINCn) > 0) && ((left_data_buf & MagDECn) > 0)) left_data = MAGNET_FAILURE; |
| ... | ... | |
| 270 | 278 |
timecount++; |
| 271 | 279 |
} |
| 272 | 280 |
|
| 281 |
|
|
| 273 | 282 |
void encoders_print_data_array(void){
|
| 274 | 283 |
int i; |
| 275 | 284 |
usb_puts("Left Data: Pointer is ");
|
| branches/encoders/code/lib/src/libdragonfly/spi.c | ||
|---|---|---|
| 18 | 18 |
void spi_init (spi_fun_recv_t recv_func, spi_fun_recv_complete_t recv_complete_func) |
| 19 | 19 |
{
|
| 20 | 20 |
/* Enable Interrupt, Enable SPI Module, MSB First, Master Mode, Clock div = 64 */ |
| 21 |
SPCR = _BV(SPE) | _BV(SPIE) /*| _BV(DORD)*/ | _BV(MSTR) | _BV(SPR1) | _BV(SPR0); |
|
| 21 |
SPCR = _BV(SPE) | _BV(SPIE) /*| _BV(DORD)*/ | _BV(MSTR) | _BV(SPR1) | _BV(SPR0);
|
|
| 22 | 22 |
SPSR = _BV(SPI2X); |
| 23 | 23 |
|
| 24 | 24 |
/* Set SCLK, SS, MOSI as outputs. MISO as input */ |
| ... | ... | |
| 30 | 30 |
|
| 31 | 31 |
/* set function to be executed when we receive a byte */ |
| 32 | 32 |
spi_recv_func = recv_func; |
| 33 |
spi_recv_complete_func = recv_complete_func;
|
|
| 33 |
spi_recv_complete_func = recv_complete_func;
|
|
| 34 | 34 |
spi_bytes = 0; |
| 35 |
usb_puts("\tspi.c Debug: SPI INITIALIZED\n");
|
|
| 35 | 36 |
} |
| 36 | 37 |
|
| 37 | 38 |
/* Transfer a given byte to slave and receive a byte */ |
| ... | ... | |
| 48 | 49 |
/* only handle intterupt when we are expecting data */ |
| 49 | 50 |
if(spi_bytes > 0){
|
| 50 | 51 |
/* process byte */ |
| 51 |
spi_recv_func(SPDR);
|
|
| 52 |
spi_recv_func(SPDR);
|
|
| 52 | 53 |
/* if we've read all the bytes, set SS high to end transmission, |
| 53 | 54 |
* otherwise get the next byte */ |
| 54 | 55 |
if(--spi_bytes == 0){
|
| 55 | 56 |
//usb_puts("Read all bytes\r\n");
|
| 56 |
PORTB |= SS;
|
|
| 57 |
if(spi_recv_complete_func)
|
|
| 58 |
spi_recv_complete_func();
|
|
| 57 |
PORTB |= SS;
|
|
| 58 |
if(spi_recv_complete_func)
|
|
| 59 |
spi_recv_complete_func();
|
|
| 59 | 60 |
}else {
|
| 60 | 61 |
//usb_puts("There are this many bytes left: "); usb_puti(spi_bytes);usb_puts("\r\n");
|
| 61 |
SPDR = 0xff;
|
|
| 62 |
}
|
|
| 62 |
SPDR = 0xff;
|
|
| 63 |
} |
|
| 63 | 64 |
} |
| 64 | 65 |
} |
| branches/encoders/code/projects/libdragonfly/spi.c | ||
|---|---|---|
| 18 | 18 |
void spi_init (spi_fun_recv_t recv_func, spi_fun_recv_complete_t recv_complete_func) |
| 19 | 19 |
{
|
| 20 | 20 |
/* Enable Interrupt, Enable SPI Module, MSB First, Master Mode, Clock div = 64 */ |
| 21 |
SPCR = _BV(SPE) | _BV(SPIE) /*| _BV(DORD)*/ | _BV(MSTR) | _BV(SPR1) | _BV(SPR0); |
|
| 21 |
SPCR = _BV(SPE) | _BV(SPIE) /*| _BV(DORD)*/ | _BV(MSTR) | _BV(SPR1) | _BV(SPR0);
|
|
| 22 | 22 |
SPSR = _BV(SPI2X); |
| 23 | 23 |
|
| 24 | 24 |
/* Set SCLK, SS, MOSI as outputs. MISO as input */ |
| ... | ... | |
| 30 | 30 |
|
| 31 | 31 |
/* set function to be executed when we receive a byte */ |
| 32 | 32 |
spi_recv_func = recv_func; |
| 33 |
spi_recv_complete_func = recv_complete_func;
|
|
| 33 |
spi_recv_complete_func = recv_complete_func;
|
|
| 34 | 34 |
spi_bytes = 0; |
| 35 |
//usb_puts("\tspi.c Debug: SPI INITIALIZED\n");
|
|
| 35 | 36 |
} |
| 36 | 37 |
|
| 37 | 38 |
/* Transfer a given byte to slave and receive a byte */ |
| ... | ... | |
| 48 | 49 |
/* only handle intterupt when we are expecting data */ |
| 49 | 50 |
if(spi_bytes > 0){
|
| 50 | 51 |
/* process byte */ |
| 51 |
spi_recv_func(SPDR);
|
|
| 52 |
spi_recv_func(SPDR);
|
|
| 52 | 53 |
/* if we've read all the bytes, set SS high to end transmission, |
| 53 | 54 |
* otherwise get the next byte */ |
| 54 | 55 |
if(--spi_bytes == 0){
|
| 55 | 56 |
//usb_puts("Read all bytes\r\n");
|
| 56 |
PORTB |= SS;
|
|
| 57 |
if(spi_recv_complete_func)
|
|
| 58 |
spi_recv_complete_func();
|
|
| 57 |
PORTB |= SS;
|
|
| 58 |
if(spi_recv_complete_func)
|
|
| 59 |
spi_recv_complete_func();
|
|
| 59 | 60 |
}else {
|
| 60 | 61 |
//usb_puts("There are this many bytes left: "); usb_puti(spi_bytes);usb_puts("\r\n");
|
| 61 |
SPDR = 0xff;
|
|
| 62 |
}
|
|
| 62 |
SPDR = 0xff;
|
|
| 63 |
} |
|
| 63 | 64 |
} |
| 64 | 65 |
} |
| branches/encoders/code/projects/libdragonfly/encoders.c | ||
|---|---|---|
| 5 | 5 |
|
| 6 | 6 |
unsigned int left_data_buf; |
| 7 | 7 |
unsigned int right_data_buf; |
| 8 |
char buf_index; |
|
| 8 |
char encoder_buf_index;
|
|
| 9 | 9 |
|
| 10 | 10 |
unsigned int left_data; |
| 11 | 11 |
unsigned int right_data; |
| ... | ... | |
| 43 | 43 |
void encoder_recv_complete(void); |
| 44 | 44 |
|
| 45 | 45 |
void encoder_recv_complete(){
|
| 46 |
|
|
| 46 |
encoder_buf_index = 0; |
|
| 47 | 47 |
// usb_puts("[");usb_puti(left_dx);usb_puts(",");usb_puti(right_dx);usb_puts("]\r\n");
|
| 48 | 48 |
// usb_puts("\r\n");
|
| 49 | 49 |
data_ready++; |
| ... | ... | |
| 70 | 70 |
data_ready=0; |
| 71 | 71 |
|
| 72 | 72 |
spi_init(encoder_recv/*put_bin*/, encoder_recv_complete); |
| 73 |
buf_index = 0; |
|
| 73 |
encoder_buf_index = 0;
|
|
| 74 | 74 |
left_data_buf = 0; |
| 75 | 75 |
right_data_buf= 0; |
| 76 | 76 |
left_data = -1; |
| ... | ... | |
| 90 | 90 |
right_data_array[i] = 0; |
| 91 | 91 |
} |
| 92 | 92 |
spi_transfer(5); |
| 93 |
//usb_puts("\tencoders.c Debug: ENCODERS INITIALIZED\n\r");
|
|
| 93 | 94 |
} |
| 94 | 95 |
|
| 95 | 96 |
/** |
| ... | ... | |
| 101 | 102 |
* @return the value of the specified encoder |
| 102 | 103 |
**/ |
| 103 | 104 |
int encoder_read(char encoder){
|
| 104 |
if(encoder==LEFT) |
|
| 105 |
if(encoder==LEFT){
|
|
| 106 |
//usb_puts("\tencoders.c Debug: PRINTING LEFT ENCODER VALUE\n\r");
|
|
| 105 | 107 |
return left_data; |
| 106 |
else if(encoder==RIGHT) |
|
| 108 |
} |
|
| 109 |
else if(encoder==RIGHT){
|
|
| 110 |
//usb_puts("\tencoders.c Debug: PRINTING RIGHT ENCODER VALUE\n\r");
|
|
| 107 | 111 |
return right_data; |
| 108 |
else return -1; |
|
| 112 |
} |
|
| 113 |
else{
|
|
| 114 |
//usb_puts("\tencoders.c Debug: INVALID ENCODER - USE LEFT/RIGHT\n\r");
|
|
| 115 |
return -1; |
|
| 116 |
} |
|
| 109 | 117 |
} |
| 110 | 118 |
|
| 111 | 119 |
int encoder_change(char encoder){
|
| ... | ... | |
| 201 | 209 |
|
| 202 | 210 |
//Parse the encoder data, comes in over 5 bytes 16 bits per encoder, |
| 203 | 211 |
// second is offset by 1 bit. |
| 204 |
switch(buf_index){
|
|
| 212 |
switch(encoder_buf_index){
|
|
| 205 | 213 |
case 0: |
| 206 | 214 |
right_data_buf |= ((short)data)<<8 & 0xff00; |
| 207 | 215 |
break; |
| ... | ... | |
| 217 | 225 |
case 4: left_data_buf |= (((short)data)>>7) & 0x1; |
| 218 | 226 |
} |
| 219 | 227 |
|
| 220 |
buf_index = (buf_index + 1) % 5;
|
|
| 228 |
encoder_buf_index = (encoder_buf_index + 1) % 5;
|
|
| 221 | 229 |
|
| 222 |
if(buf_index==0) {
|
|
| 230 |
if(encoder_buf_index==0) {
|
|
| 223 | 231 |
|
| 224 | 232 |
if(left_data_buf & (COF | LIN) || !(left_data_buf & OCF)) left_data = INVALID; |
| 225 | 233 |
else if(((left_data_buf & MagINCn) > 0) && ((left_data_buf & MagDECn) > 0)) left_data = MAGNET_FAILURE; |
| ... | ... | |
| 270 | 278 |
timecount++; |
| 271 | 279 |
} |
| 272 | 280 |
|
| 281 |
|
|
| 273 | 282 |
void encoders_print_data_array(void){
|
| 274 | 283 |
int i; |
| 275 | 284 |
usb_puts("Left Data: Pointer is ");
|
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