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direct-sensor.c File Reference

direct sensor access. More...

Defines

#define DS_ALL_ACTIVE
all sensors active mode.
#define DS_ALL_PASSIVE
all sensors passive mode.
#define RANGE_SIZE
A/D values for the rotation sensor states.
#define IN_RANGE ( val)
rotation sensor range matching function.

Enumerations

enum RotationState { STATE_0, STATE_1, STATE_2, STATE_3 }
states for rotation state machine.

Functions

void ds_rotation_set (unsigned* const sensor,int pos)
set rotation to an absolute value. More...
void ds_rotation_handler ()
process rotation sensor on current A/D channel. More...
void ds_handler (void)
sensor A/D conversion IRQ handler.
void ds_init (void)
initialize sensor a/d conversion. More...
void ds_shutdown (void)
shutdown sensor a/d conversion. More...

Variables

volatile unsigned char ds_channel
current A/D channel.
unsigned char ds_activation
channel bitmask. 1-> active.
unsigned char ds_rotation
channel bitmask. 1-> rotation.
volatile int ds_rotations [3]
rotation sensor values.
RotationState rotation_state [3]
rotation state machine state.

Detailed Description

direct sensor access.

Author(s):: Markus L. Noga <noga@inrialpes.fr>

Function Documentation

void ds_rotation_set (unsigned * const sensor, int pos)

set rotation to an absolute value.

Parameters:: sensor - the sensor address, can be &SENSOR_1, &SENSOR_2 or &SENSOR_3; pos - desired absolute position

axis should be inert during the function call

void ds_rotation_handler ()

process rotation sensor on current A/D channel.

See also:: ds_channel current channel (global input value)

void ds_init (void)

initialize sensor a/d conversion.

all sensors set to passive mode rotation tracking disabled

void ds_shutdown (void)

shutdown sensor a/d conversion.

all sensors set to passive mode

-0.1.7 is released under Mozilla Public License. Original code © 1998-1999 by Markus L. Noga.