Commit from enseirb on branch b_eirbot (2008-03-09 15:04 CET)
======================================
Adding encoders UNIOC (Eirbot 2k7 and counting)
+ aversive modules/devices/encoders/encoders_unioc/Makefile
1.1.2.1
+ aversive modules/devices/encoders/encoders_unioc/encoders_unioc.c
1.1.2.1
+ aversive modules/devices/encoders/encoders_unioc/encoders_unioc.h
1.1.2.1
+ aversive
modules/devices/encoders/encoders_unioc/config/encoders_unioc_config.h 1.1.2.1
=========================================================
aversive/modules/devices/encoders/encoders_unioc/Makefile (1.1.2.1)
=========================================================
@@ -0,0 +1,6 @@
+TARGET = encoders_unioc
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = encoders_unioc.c
+
+include $(AVERSIVE_DIR)/mk/aversive_module.mk
=================================================================
aversive/modules/devices/encoders/encoders_unioc/encoders_unioc.c (1.1.2.1)
=================================================================
@@ -0,0 +1,90 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: encoders_unioc.c,v 1.1.2.1 2008-03-09 14:04:43 enseirb Exp
$
+ *
+ */
+
+/** \file encoders_eirbot_unioc.c
+ * \brief achieves acess to incremental encoders managed by a FPGA and
accessed via external ram interface
+ *
+ * \todo nothing !
+ *
+ * \test
+ *
+ * This modules reads 8 bits encoders values on an external interface.
+ * there are two necessary busses with the interface logic: 8 bits data bus
and a n bits selection bus.
+ * ( see the VDHL for the xilinx program)
+ * with n bits on the selection bus, you can access to 2^n encoders.
+ *
+ * Lamygale 10/10/2005
+ *
+ */
+
+#include <aversive.h>
+#include "encoders_unioc.h"
+
+/**
+ * fonction utilisée 2 fois seulement, acquiert un codeur
+*/
+inline encoders get_encoder(uint8_t num)
+{
+ encoders *val;
+
+ val = (encoders*)(ENCODERS_BASE_ADDRESS + 4*num );
+
+ return *val;
+}
+
+/** Initialisation des codeurs, variables, et ports */
+void encoders_init(u08 config)
+{
+ wait_ms(500);
+ MCUCR = MCUCR | (1 << SRE);
+ raz_encoders();
+ ENCODERS_CONFIG = config;
+}
+
+
+/**
+ * Resets the values of the encoders
+ *
+ **/
+void raz_encoders(void)
+{
+ do
+ {
+ ENCODERS_CONFIG |= (1 << CLEAR_ENCODERS);
+ nop();
+ ENCODERS_CONFIG &=~(1<< CLEAR_ENCODERS);
+ }
+ while( !(~ENCODERS_CONFIG & (1<<CLEAR_ENCODERS)) );
+}
+
+/** Extraction d'une valeur de codeur */
+encoders encoders_get_value(uint8_t number)
+{
+ encoders value;
+ uint8_t flags;
+
+ IRQ_LOCK(flags);
+ value = get_encoder(number);
+ IRQ_UNLOCK(flags);
+
+ return value;
+}
+
=================================================================
aversive/modules/devices/encoders/encoders_unioc/encoders_unioc.h (1.1.2.1)
=================================================================
@@ -0,0 +1,59 @@
+/*
+ * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ * Revision : $Id: encoders_unioc.h,v 1.1.2.1 2008-03-09 14:04:43 enseirb Exp
$
+ *
+ */
+
+/** \file encoders_eirbot.h
+ * \brief universal Interface for incremental coders
+ */
+
+#ifndef _ENCODERS_EIRBOT_UNIOC_H_
+#define _ENCODERS_EIRBOT_UNIOC_H_
+
+#include <encoders_unioc_config.h>
+
+
+/** definition du registre interne au FPGA */
+#define ENCODERS_CONFIG _SFR_MEM8(ADDRESS_ENCODERS_CONFIG)
+#define CLEAR_ENCODERS 7
+
+
+typedef int32_t encoders;
+
+/**
+ * Initialisation of counters, variables
+ * Sets the encoders rotationwise :
+ * each byte of the data configures one encoder.
+ * refer to the encoders_eirbot_unioc_config_file
+ * to find the corresponding byte number of each encoder
+ */
+void encoders_init(uint8_t config);
+
+
+/**
+ *Resets the values of any encoder synthetised in the FPGA
+ *
+ * */
+void raz_encoders(void);
+
+
+/** Extract counter value from the FPGA*/
+encoders encoders_get_value(uint8_t number);
+
+#endif
===============================================================================
aversive/modules/devices/encoders/encoders_unioc/config/encoders_unioc_config.h
(1.1.2.1)
===============================================================================
@@ -0,0 +1,32 @@
+/** \file encoders_eirbot_unioc_config.h
+ * \brief configuration du module codeur UNIOC
+ */
+
+#ifndef _ENCODERS_EIRBOT_UNIOC_CONFIG_
+#define _ENCODERS_EIRBOT_UNIOC_CONFIG_
+
+/** adresse la plus basse à partir de laquelle se trouvent toutes les autres
données codeur.
+ * Ceci implique des adresses consécutives pour les modules codeurs
+ * #define BASE_CODEUR 0x1200
+*/
+
+#define ENCODERS_BASE_ADDRESS 0x1300
+
+/** nombre de codeurs implantés dans le FPGA et utilisés par le µc
+*/
+#define ENCODERS_NUMBER 4
+
+/** Registre ENCODERS_CONFIG :
+ * correspondance numero de bit, codeur
+ */
+#define L_ENGINE_ENCODER 0
+#define R_ENGINE_ENCODER 1
+#define L_SEPARATED_ENCODER 2
+#define R_SEPARATED_ENCODER 3
+
+
+#define ADDRESS_ENCODERS_CONFIG 0x1400
+
+#endif
+
+
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