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//
// Copyright (C) 2013-2014 Michael Geszkiewicz
//
// 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., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include "types.h"
#include "encoder_module.h"
#include "hostmot2.h"
double seconds_per_tsdiv_clock;
static void enable_encoder_pins(hostmot2_t *hm2) {
int i;
for (i = 0; i < HM2_MAX_PINS; i++) {
if (hm2->pins[i].gtag == HM2_GTAG_NONE) {
break;
}
if ((hm2->pins[i].sec_tag == HM2_GTAG_MUXED_ENCODER_SEL)) {
hm2_set_pin_source(hm2, i, HM2_PIN_SOURCE_IS_SECONDARY);
if (hm2->pins[i].sec_pin & HM2_PIN_OUTPUT) {
hm2_set_pin_direction(hm2, i, HM2_PIN_DIR_IS_OUTPUT);
}
}
}
}
// Return the physical ports to default
static void disable_encoder_pins(llio_t *llio) {
(void)llio;
}
int encoder_init(encoder_module_t *enc, board_t *board, int instance, int delay) {
hm2_module_desc_t *md = hm2_find_module(&(board->llio.hm2), HM2_GTAG_MUXED_ENCODER);
u32 clock, control;
if (md == NULL) {
printf("No encoder module found.\n");
return -1;
}
if (instance >= (md->instances - 1)) {
printf("encoder instance number to high.\n");
return -1;
}
memset(enc, 0, sizeof(encoder_module_t));
enc->scale = 1.0;
enc->board = board;
enc->base_address = md->base_address;
enc->instance = instance;
enc->instance_stride = (md->strides & 0xF0) == 0 ? board->llio.hm2.idrom.instance_stride0 : board->llio.hm2.idrom.instance_stride1;
enable_encoder_pins(&(enc->board->llio.hm2));
if (md->clock_tag == HM2_CLOCK_LOW_TAG) {
clock = (enc->board->llio.hm2.idrom.clock_low / 1e6 * delay) - 2;
seconds_per_tsdiv_clock = (double)(clock + 2) / (double)enc->board->llio.hm2.idrom.clock_low;
} else if (md->clock_tag == HM2_CLOCK_HIGH_TAG) {
clock = (enc->board->llio.hm2.idrom.clock_high / 1e6 * delay) - 2;
seconds_per_tsdiv_clock = (double)(clock + 2) / (double)enc->board->llio.hm2.idrom.clock_high;
}
enc->board->llio.write(&(enc->board->llio), enc->base_address + HM2_MOD_OFFS_MUX_ENCODER_TSSDIV, &clock, sizeof(clock));
enc->board->llio.read(&(enc->board->llio), enc->base_address + HM2_MOD_OFFS_MUX_ENCODER_LATCH_CCR + enc->instance*enc->instance_stride, &control, sizeof(control));
control |= HM2_ENCODER_FILTER;
control &= ~(HM2_ENCODER_QUADRATURE_ERROR);
enc->board->llio.write(&(enc->board->llio), enc->base_address + HM2_MOD_OFFS_MUX_ENCODER_LATCH_CCR + enc->instance*enc->instance_stride, &control, sizeof(control));
return 0;
}
int encoder_cleanup(encoder_module_t *enc) {
disable_encoder_pins(&(enc->board->llio));
return 0;
}
int encoder_read(encoder_module_t *enc) {
board_t *board;
u32 tsc, count, control;
u16 reg_count, reg_time_stamp;
int prev_raw_counts = enc->raw_counts, reg_count_diff, tsc_rollover = 0;
int dT_clocks;
double dT_seconds;
int dS_counts;
double dS_meters;
if (enc == NULL) {
return -1;
}
board = enc->board;
board->llio.read(&(board->llio), enc->base_address + HM2_MOD_OFFS_MUX_ENCODER_TS_COUNT, &tsc, sizeof(tsc));
board->llio.read(&(board->llio), enc->base_address + HM2_MOD_OFFS_MUX_ENCODER_COUNTER + enc->instance*enc->instance_stride, &count, sizeof(count));
board->llio.read(&(board->llio), enc->base_address + HM2_MOD_OFFS_MUX_ENCODER_LATCH_CCR + enc->instance*enc->instance_stride, &control, sizeof(control));
if (enc->scale == 0) {
enc->scale = 1.0;
}
reg_count = count & 0xFFFF;
reg_count_diff = (int)reg_count - enc->count;
reg_time_stamp = count >> 16;
if (reg_count_diff == 0) {
enc->velocity = 0;
} else {
if (reg_count_diff > 32768) reg_count_diff -= 65536;
if (reg_count_diff < -32768) reg_count_diff += 65536;
enc->raw_counts += reg_count_diff;
if (reg_time_stamp < enc->time_stamp) {
// tsc rollover!
tsc_rollover++;
}
dT_clocks = (reg_time_stamp - enc->time_stamp) + (tsc_rollover << 16);
dT_seconds = (double) dT_clocks * seconds_per_tsdiv_clock;
dS_counts = enc->raw_counts - prev_raw_counts;
dS_meters = (double) dS_counts / enc->scale;
if (dT_clocks > 0) {
enc->velocity = dS_meters / dT_seconds;
}
}
enc->position = enc->raw_counts / enc->scale;
enc->count = reg_count;
enc->time_stamp = reg_time_stamp;
enc->global_time_stamp = tsc;
return 0;
}
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