root / branches / encoders / code / projects / libdragonfly / encoders.c @ 854
History | View | Annotate | Download (7.44 KB)
1 |
#include "encoders.h" |
---|---|
2 |
#include "spi.h" |
3 |
#include <dragonfly_lib.h> |
4 |
#include "ring_buffer.h" |
5 |
|
6 |
unsigned int left_data_buf; |
7 |
unsigned int right_data_buf; |
8 |
char encoder_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 |
int left_v;
|
23 |
int right_v;
|
24 |
|
25 |
|
26 |
volatile short int data_ready; |
27 |
|
28 |
void encoder_recv(char data); |
29 |
|
30 |
//Helper Function Prototypes
|
31 |
inline void left_data_array_put(unsigned short int value); |
32 |
inline unsigned int left_data_array_top(void); |
33 |
inline unsigned int left_data_array_prev(void); |
34 |
inline unsigned int left_data_array_bottom(void); |
35 |
|
36 |
inline void right_data_array_put(unsigned short int value); |
37 |
inline unsigned int right_data_array_top(void); |
38 |
inline unsigned int right_data_array_prev(void); |
39 |
inline unsigned int right_data_array_bottom(void); |
40 |
|
41 |
|
42 |
void encoder_recv_complete(){
|
43 |
encoder_buf_index = 0;
|
44 |
data_ready++; |
45 |
|
46 |
spi_transfer(5);
|
47 |
} |
48 |
|
49 |
/**
|
50 |
* @brief Initializes encoder variables and the hardware interface.
|
51 |
*/
|
52 |
void encoders_init(void){ |
53 |
int i;
|
54 |
|
55 |
data_ready=0;
|
56 |
|
57 |
spi_init(encoder_recv, encoder_recv_complete); |
58 |
encoder_buf_index = 0;
|
59 |
left_data_buf = 0;
|
60 |
right_data_buf= 0;
|
61 |
left_data = -1;
|
62 |
right_data = -1;
|
63 |
|
64 |
|
65 |
left_v=0;
|
66 |
right_v=0;
|
67 |
|
68 |
//RING_BUFFER_INIT(enc_buffer,BUFFER_SIZE);
|
69 |
left_data_idx = 0;
|
70 |
right_data_idx = 0;
|
71 |
for(i = 0; i < BUFFER_SIZE; i++) { |
72 |
left_data_array[i] = 0;
|
73 |
} |
74 |
for(i = 0; i < BUFFER_SIZE; i++) { |
75 |
right_data_array[i] = 0;
|
76 |
} |
77 |
spi_transfer(5);
|
78 |
} |
79 |
|
80 |
/**
|
81 |
* @brief Returns the specified encoders value
|
82 |
*
|
83 |
* @param encoder this is the encoder that you want to read. Valid arguments
|
84 |
* are LEFT and RIGHT
|
85 |
*
|
86 |
* @return the value of the specified encoder
|
87 |
**/
|
88 |
int encoder_read(char encoder){ |
89 |
|
90 |
if(encoder==LEFT) return left_data; |
91 |
else if(encoder==RIGHT) return right_data; |
92 |
else return -1; |
93 |
} |
94 |
|
95 |
|
96 |
/**
|
97 |
* @brief Outputs encoder direction as FORWARD OR BACK
|
98 |
* A STUB! DO NOT use.
|
99 |
*
|
100 |
* @param encoder The encoder you want the direction of.
|
101 |
* Valid arguments are right and left.
|
102 |
*
|
103 |
* @return FORWARD or BACK (the constants)
|
104 |
*/
|
105 |
char encoder_direction(char encoder){ |
106 |
return 0; |
107 |
} |
108 |
|
109 |
/**
|
110 |
* Gets the total distance covered by the specified encoder (in encoder clicks)
|
111 |
*
|
112 |
* @param encoder the encoder that you want to read, use LEFT or RIGHT
|
113 |
*
|
114 |
* @return The distance covered by the specified encoder.
|
115 |
**/
|
116 |
int encoder_get_dx(char encoder) { |
117 |
|
118 |
if(encoder==LEFT) return left_dx; |
119 |
else if(encoder==RIGHT) return right_dx; |
120 |
else return -1; |
121 |
} |
122 |
|
123 |
/**
|
124 |
* Resets the distance accumulator for the specified
|
125 |
* encoder.
|
126 |
*
|
127 |
* @param encoder the encoder that you want to reset distance for
|
128 |
**/
|
129 |
void encoder_rst_dx(char encoder) { |
130 |
|
131 |
if(encoder==LEFT) left_dx = 0; |
132 |
else if(encoder==RIGHT) right_dx = 0; |
133 |
} |
134 |
|
135 |
/**
|
136 |
* @brief Returns the number of encoder reads that have occurred.
|
137 |
*
|
138 |
* @return The time count.
|
139 |
*/
|
140 |
int encoder_get_tc(void) { |
141 |
return timecount;
|
142 |
} |
143 |
|
144 |
/**
|
145 |
* @brief Resets the encoder read counter.
|
146 |
*/
|
147 |
void encoder_rst_tc(void) { |
148 |
timecount = 0;
|
149 |
} |
150 |
|
151 |
|
152 |
/**
|
153 |
* @brief Returns the approximated instantaneous velocity of the robot
|
154 |
* in terms of encoder clicks.
|
155 |
*
|
156 |
* @param encoder RIGHT or LEFT - the wheel you want the velocity for.
|
157 |
*
|
158 |
* @return The instantaneous velocity for the given wheel.
|
159 |
*/
|
160 |
int encoder_get_v(char encoder){ |
161 |
int last, res=0; |
162 |
|
163 |
cli(); |
164 |
|
165 |
if(encoder==LEFT){
|
166 |
if(left_data_idx==0) |
167 |
last = BUFFER_SIZE - 1;
|
168 |
else
|
169 |
last = left_data_idx - 1;
|
170 |
res = ((int)left_data_array[last]) - ((int)left_data_array[left_data_idx]); |
171 |
} |
172 |
if(encoder==RIGHT){
|
173 |
if(right_data_idx==0) |
174 |
last = BUFFER_SIZE - 1;
|
175 |
else
|
176 |
last = right_data_idx - 1;
|
177 |
res = ((int)right_data_array[right_data_idx]) - ((int)right_data_array[last]); |
178 |
} |
179 |
|
180 |
sei(); |
181 |
|
182 |
while(res<MIN_V)//underflow |
183 |
res+=1024;
|
184 |
while(res>MAX_V)//overflow |
185 |
res-=1024;
|
186 |
|
187 |
return res;
|
188 |
} |
189 |
|
190 |
|
191 |
/**
|
192 |
* @brief Waits until n encoder reads have occurred.
|
193 |
* Counter is reset on functions exit.
|
194 |
*
|
195 |
* @param n
|
196 |
*/
|
197 |
void encoder_wait(int n){ |
198 |
while(data_ready<n);
|
199 |
data_ready=0;
|
200 |
} |
201 |
|
202 |
|
203 |
//Full reads occur every 40 microseconds. This function should be called
|
204 |
//every 8 microseconds.
|
205 |
void encoder_recv(char data){ |
206 |
short int dx; |
207 |
|
208 |
//Parse the encoder data, comes in over 5 bytes 16 bits per encoder,
|
209 |
// second is offset by 1 bit.
|
210 |
switch(encoder_buf_index){
|
211 |
case 0: |
212 |
right_data_buf |= ((short)data)<<8 & 0xff00; |
213 |
break;
|
214 |
case 1: |
215 |
right_data_buf |= ((short)data) & 0xff; |
216 |
break;
|
217 |
case 2: |
218 |
left_data_buf |= (((short)data) << 9) & (0x7F << 9); |
219 |
break;
|
220 |
case 3: |
221 |
left_data_buf |= (((short)data) << 1) & (0xFF<<1); |
222 |
break;
|
223 |
case 4: left_data_buf |= (((short)data)>>7) & 0x1; |
224 |
} |
225 |
|
226 |
encoder_buf_index = (encoder_buf_index + 1) % 5; |
227 |
|
228 |
if(encoder_buf_index==0) { |
229 |
|
230 |
/*Error handling for the left encoder*/
|
231 |
if(!(left_data_buf & OCF))
|
232 |
left_data = ENCODER_DATA_NOT_READY; |
233 |
if(left_data_buf & (COF | LIN))
|
234 |
left_data = ENCODER_MISALIGNED; |
235 |
else if((left_data_buf & MagINCn) && (left_data_buf & MagDECn)) |
236 |
left_data = ENCODER_MAGNET_FAILURE; |
237 |
else left_data = (left_data_buf>>5) & 1023; |
238 |
|
239 |
/*Error handling for the right encoder*/
|
240 |
if(!(right_data_buf & OCF))
|
241 |
right_data = ENCODER_DATA_NOT_READY; |
242 |
if(right_data_buf & (COF | LIN))
|
243 |
right_data = ENCODER_MISALIGNED; |
244 |
else if ((right_data_buf & MagINCn) && (right_data_buf & MagDECn)) |
245 |
right_data = ENCODER_MAGNET_FAILURE; |
246 |
else right_data = (right_data_buf>>5) & 1023; |
247 |
|
248 |
left_data_buf = 0;
|
249 |
right_data_buf = 0;
|
250 |
|
251 |
/*Above 1023 is invalid data*/
|
252 |
if(!(left_data > 1023)) { |
253 |
left_data_array_put(left_data); |
254 |
|
255 |
//Adjust left accumulator
|
256 |
dx = left_data - left_data_array_prev(); |
257 |
|
258 |
//Adjust velocity: save last dx
|
259 |
left_v = left_dx; |
260 |
|
261 |
if(left_data_array_prev()==0) dx=0; |
262 |
|
263 |
if(dx > 512) left_dx += dx - 1023; //Underflow |
264 |
else if(dx < -512) left_dx += dx + 1023; //Overflow |
265 |
else left_dx += dx;
|
266 |
|
267 |
//Adjust velocity: update
|
268 |
left_v = left_dx - left_v; |
269 |
} |
270 |
|
271 |
/*Above 1023 is invalid data*/
|
272 |
if(!(right_data > 1023)) { |
273 |
right_data_array_put(right_data); |
274 |
|
275 |
//Adjust right accumulator
|
276 |
dx = right_data - right_data_array_prev(); |
277 |
|
278 |
if(right_data_array_prev()==0) dx=0; |
279 |
|
280 |
if(dx > 512) right_dx += dx - 1023; //underflow |
281 |
else if(dx < -512) right_dx += dx + 1023; //overflow |
282 |
else right_dx += dx;
|
283 |
} |
284 |
} |
285 |
|
286 |
//Increment timecount accumulator
|
287 |
timecount++; |
288 |
} |
289 |
|
290 |
|
291 |
//Helper Functions
|
292 |
inline void left_data_array_put(unsigned short int value) { |
293 |
if(left_data_idx == BUFFER_SIZE-1) |
294 |
left_data_idx = 0;
|
295 |
else
|
296 |
left_data_idx++; |
297 |
left_data_array[left_data_idx] = value; |
298 |
} |
299 |
|
300 |
inline unsigned int left_data_array_top(void) { |
301 |
return left_data_array[left_data_idx];
|
302 |
} |
303 |
|
304 |
inline unsigned int left_data_array_prev(void) { |
305 |
if(left_data_idx == 0) |
306 |
return left_data_array[BUFFER_SIZE-1]; |
307 |
else
|
308 |
return left_data_array[left_data_idx - 1]; |
309 |
} |
310 |
|
311 |
inline unsigned int left_data_array_bottom(void) { |
312 |
if(left_data_idx == BUFFER_SIZE-1) |
313 |
return left_data_array[0]; |
314 |
else
|
315 |
return left_data_array[left_data_idx + 1]; |
316 |
} |
317 |
|
318 |
inline void right_data_array_put(unsigned short int value) { |
319 |
if(right_data_idx == BUFFER_SIZE-1) |
320 |
right_data_idx = 0;
|
321 |
else
|
322 |
right_data_idx++; |
323 |
right_data_array[right_data_idx] = value; |
324 |
} |
325 |
|
326 |
inline unsigned int right_data_array_top(void) { |
327 |
return right_data_array[right_data_idx];
|
328 |
} |
329 |
|
330 |
inline unsigned int right_data_array_prev(void) { |
331 |
if(right_data_idx == 0) |
332 |
return right_data_array[BUFFER_SIZE-1]; |
333 |
else
|
334 |
return right_data_array[right_data_idx - 1]; |
335 |
} |
336 |
|
337 |
inline unsigned int right_data_array_bottom(void) { |
338 |
if(right_data_idx == BUFFER_SIZE-1) |
339 |
return right_data_array[0]; |
340 |
else
|
341 |
return right_data_array[right_data_idx + 1]; |
342 |
} |
343 |
|