Merge branch 'master' into biomimetics-master

Conflicts: ams-enc.c
biomimetics · Oct 27, 2015 · b012786 · b012786
2 parents c331ed5 + 998b0a5
commit b012786
Show file tree

Hide file tree

Showing 11 changed files with 1,735 additions and 20 deletions.
diff --git a/adc_pid.c b/adc_pid.c
@@ -251,7 +251,7 @@ static void initDma0(void) {
 void __attribute__((interrupt, no_auto_psv)) _DMA0Interrupt(void) {
     //This should really be done in an elegant way by selecting a pointer, and
     // not repeating code below.
-    LED_3 = 1;
+    //LED_3 = 1;
     if (DmaBuffer == 0) {
         adc_AN0 = BufferA[0][0];  //AN0
         adc_AN8 = BufferA[1][0];  //AN8
@@ -274,7 +274,7 @@ void __attribute__((interrupt, no_auto_psv)) _DMA0Interrupt(void) {
     adc_MotorD = adc_AN11;
 
     DmaBuffer ^= 1; //Toggle between buffers
-    LED_3 = 0;
+    //LED_3 = 0;
     IFS0bits.DMA0IF = 0; //Clear the DMA0 Interrupt Flag
 }
 // End DMA section
diff --git a/ams-enc.c b/ams-enc.c
@@ -51,7 +51,6 @@
 #include "utils.h"
 #include "settings.h"
 
-
 #define LSB2ENCDEG      0.0219
 #define ENC_I2C_CHAN    1       //Encoder is on I2C channel 1
 
@@ -74,13 +73,7 @@ EncObj encPos[NUM_ENC];
 
 #define AMS_ENC_ANGLE_REG   0xFE
 
-#ifndef AMS_ENC_OFFSET_0
-#define AMS_ENC_OFFSET_0 0
-#endif
 
-#ifndef AMS_ENC_OFFSET_1
-#define AMS_ENC_OFFSET_1 0
-#endif
 
 volatile unsigned char  state = AMS_ENC_IDLE;
 volatile unsigned char  encoder_number = 0;
@@ -132,10 +125,36 @@ void amsEncoderResetPos(void) {
     for(i = 0; i< NUM_ENC; i++) {
         //amsEncoderBlockingRead(i);    // get initial values w/o setting oticks
         //encPos[i].offset = encPos[i].pos; // initialize encoder
+        encPos[i].calibPos = 0;
         encPos[i].oticks = 0;   // set revolution counter to 0
     }
+
+    //Set up offset
+    //TODO: maybe move these to NVM somewhere in the flash, rather than project defines
+#ifdef AMS_ENC_OFFSET_0
     encPos[0].offset = AMS_ENC_OFFSET_0;
+#else
+    encPos[0].offset = 0;
+#endif
+
+#ifdef AMS_ENC_OFFSET_1
     encPos[1].offset = AMS_ENC_OFFSET_1;
+#else
+    encPos[1].offset = 0;
+#endif
+
+#ifdef AMS_ENC_OFFSET_2
+    encPos[2].offset = AMS_ENC_OFFSET_2;
+#else
+    encPos[2].offset = 0;
+#endif
+
+#ifdef AMS_ENC_OFFSET_3
+    encPos[3].offset = AMS_ENC_OFFSET_3;
+#else
+    encPos[3].offset = 0;
+#endif
+
 }
 
 /*****************************************************************************
@@ -196,7 +215,7 @@ unsigned char amsEncoderStartAsyncRead(void) {
 }
 
 void __attribute__((interrupt, no_auto_psv)) _MI2C1Interrupt(void) {
-    LED_3 = 1;
+    //LED_3 = 1;
 
     switch(state) {
         case AMS_ENC_WRITE_START:
@@ -253,7 +272,7 @@ void __attribute__((interrupt, no_auto_psv)) _MI2C1Interrupt(void) {
             state = AMS_ENC_IDLE;
             break;
     }
-    LED_3 = 0;
+    //LED_3 = 0;
     _MI2C1IF = 0;
 }
 
@@ -276,3 +295,30 @@ float amsEncoderGetFloatPos(unsigned char num) {
     pos = encPos[num].pos* LSB2ENCDEG; //calculate Float
     return pos;
 }
+
+int amsEncoderGetPos(unsigned char num) {
+    if(num < NUM_ENC){
+        return encPos[num].pos;
+    }
+    else{
+        return 0;
+    }
+}
+
+long amsEncoderGetOticks(unsigned char num) {
+    if(num < NUM_ENC){
+        return encPos[num].oticks;
+    }
+    else{
+        return 0;
+    }
+}
+
+unsigned int amsEncoderGetOffset(unsigned char num){
+    if(num < NUM_ENC){
+        return encPos[num].offset;
+    }
+    else{
+        return 0;
+    }
+}
diff --git a/ams-enc.h b/ams-enc.h
@@ -54,11 +54,10 @@
 typedef struct {
     unsigned int pos; // raw reading from sensor 14 bits
     long oticks;  // revolution counter
+    unsigned int calibPos;  // 0 to 2pi, converted to 16 bits
     unsigned int offset; // initial reading on setup - relative zero position
 } EncObj;
 
-extern EncObj encPos[NUM_ENC];
-
 /*****************************************************************************
  * Function Name : amsHallSetup
  * Description   : initialize I2C, and for initial calibration, set offset
@@ -105,11 +104,35 @@ void amsEncoderBlockingRead(unsigned char num);
 unsigned char amsEncoderStartAsyncRead(void);
 
 /*****************************************************************************
- * Function Name : encGetFloatPos
+ * Function Name : amsEncoderGetFloatPos
  * Description   : Return the angular position of encoder[num] return as float
  * Parameters    : None
- * Return Value  : None
+ * Return Value  : float value for a single encoder, in degrees
  *****************************************************************************/
 float amsEncoderGetFloatPos(unsigned char num);
 
+/*****************************************************************************
+ * Function Name : amsEncoderGetPos
+ * Description   : Return the angular position of encoder[num] return as int
+ * Parameters    : None
+ * Return Value  : int value for a single encoder
+ *****************************************************************************/
+int amsEncoderGetPos(unsigned char num);
+
+/*****************************************************************************
+ * Function Name : amsEncoderGetOticks
+ * Description   : Return the count of total revolutions
+ * Parameters    : None
+ * Return Value  : int value, for a single encoder
+ *****************************************************************************/
+long amsEncoderGetOticks(unsigned char num);
+
+/*****************************************************************************
+ * Function Name : amsEncoderGetOffset
+ * Description   : Return the offset for an encoder
+ * Parameters    : None
+ * Return Value  : int value, for a single encoder
+ *****************************************************************************/
+unsigned int amsEncoderGetOffset(unsigned char num);
+
 #endif // __AMS_ENC_H