83b52e3b3c
base addresses of modules are going to be changeable Signed-off-by: Michael Geszkiewicz <micges@wp.pl>
44 lines
1.3 KiB
C
44 lines
1.3 KiB
C
//
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// Copyright (C) 2013-2014 Michael Geszkiewicz
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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//
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#ifndef __ENCODER_MODULE_H
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#define __ENCODER_MODULE_H
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#include "boards.h"
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#include "hostmot2.h"
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typedef struct {
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u16 count;
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u16 time_stamp;
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u16 global_time_stamp;
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int raw_counts;
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double position;
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double velocity;
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double scale;
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int quad_error;
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board_t *board;
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u16 base_address;
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int instance;
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int instance_stride;
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} encoder_module_t;
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int encoder_init(encoder_module_t *enc, board_t *board, int instance, int delay);
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int encoder_cleanup(encoder_module_t *enc);
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int encoder_read(encoder_module_t *enc);
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#endif
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