[Krobot-commits] [SCM] krobot branch, master, updated. 356ea449946b76d194a653473fe99df01c6b6b1a

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 356ea449946b76d194a653473fe99df01c6b6b1a
Author: Xavier Lagorce <Xav...@cr...>
Date:   Sat Jan 28 17:03:30 2012 +0100

    [Controller_Motor_STM32/lib] Added helpers to rescale encoder output

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/lib/encoder.c b/elec/boards/Controller_Motor_STM32/Firmwares/lib/encoder.c
index 6552dbb..10587f0 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/lib/encoder.c
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/lib/encoder.c
@@ -12,6 +12,12 @@
 #include "stm32lib/stm32f10x_rcc.h"
 #include "stm32lib/stm32f10x_tim.h"
 
+typedef struct {
+  uint16_t origin;
+  float scale;
+} enc_params_t;
+
+enc_params_t enc_params[4];
 
 /*
  * Function to initialise one encoder interface
@@ -101,6 +107,20 @@ void encodersInit(void) {
   TIM_Cmd(TIM8,ENABLE);
   TIM_Cmd(TIM1,ENABLE);
   TIM_Cmd(TIM4,ENABLE);
+
+  // Initialize scaling factors
+  for (int i=0; i < 4; i++) {
+    enc_params[i].origin = 0;
+    enc_params[i].scale= 1.0;
+  }
+}
+
+/*
+ * Helper to set the sacling factor for the readout helper
+ */
+void setEncoderScaling(uint8_t encoder, uint16_t origin, float scale) {
+  enc_params[encoder].origin = origin;
+  enc_params[encoder].scale = scale;
 }
 
 /*
@@ -125,6 +145,14 @@ uint16_t getEncoderPosition(uint8_t encoder) {
       return 0;
   }
 }
+/*
+ * Helper to get the current encoder position after the applying
+ * some scaling factors
+ */
+float getEncoderPosition_f(uint8_t encoder) {
+  return enc_params[encoder].scale *
+    (getEncoderPosition(encoder) - enc_params[encoder].origin);
+}
 
 /*
  * Helper to get the current direction of evolution of the counter
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/lib/encoder.h b/elec/boards/Controller_Motor_STM32/Firmwares/lib/encoder.h
index e94ac88..729c10e 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/lib/encoder.h
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/lib/encoder.h
@@ -6,10 +6,10 @@
 #ifndef HEADER__ENCODER
 #define HEADER__ENCODER
 
-#define ENCODER1   1
-#define ENCODER2   2
-#define ENCODER3   3
-#define ENCODER4   4
+#define ENCODER1   0
+#define ENCODER2   1
+#define ENCODER3   2
+#define ENCODER4   3
 
 #define ENCODER_DIR_UP     0
 #define ENCODER_DIR_DOWN   1
@@ -17,9 +17,32 @@
 #include <drv/gpio_stm32.h>
 #include <drv/clock_stm32.h>
 
+/*
+ * Intializes the encoder interface
+ */
 void encodersInit(void);
+/*
+ * Sets the scaling factors for readout helper
+ */
+void setEncoderScaling(uint8_t encoder, uint16_t origin, float scale);
+
+/*
+ * Returns the current position of a particular encoder
+ */
 uint16_t getEncoderPosition(uint8_t encoder);
+/*
+ * Gets the corrent value of an encoder after scaling process
+ */
+float getEncoderPosition_f(uint8_t encoder);
+
+/*
+ * Resets the counter register associated to a given encoder
+ */
 void resetEncoderPosition(uint8_t encoder);
+
+/*
+ * Gets the direction of the evolution of an encoder value
+ */
 uint8_t getEncoderDirection(uint8_t encoder);
 
 #endif


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