From 737e4f3e487c8849aab3900625ee64edb02ec263 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 14 Apr 2008 00:53:22 +0200 Subject: * digital/asserv/src/asserv: - added motor-power-avr support. --- digital/asserv/src/asserv/pwm_mp.avr.c | 87 ++++++++++++++++++++++++++++++++++ 1 file changed, 87 insertions(+) create mode 100644 digital/asserv/src/asserv/pwm_mp.avr.c (limited to 'digital/asserv/src/asserv/pwm_mp.avr.c') diff --git a/digital/asserv/src/asserv/pwm_mp.avr.c b/digital/asserv/src/asserv/pwm_mp.avr.c new file mode 100644 index 00000000..4bc8f3f4 --- /dev/null +++ b/digital/asserv/src/asserv/pwm_mp.avr.c @@ -0,0 +1,87 @@ +/* pwm_mp.avr.c - PWM to be used with motor-power-avr. */ +/* asserv - Position & speed motor control on AVR. {{{ + * + * Copyright (C) 2008 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "pwm_mp.avr.h" +#include "pwm.h" + +#include "modules/spi/spi.h" +#include "io.h" + +/** Assign PWM outputs. */ +#define PWM1 pwm_left +#define PWM2 pwm_right +#undef PWM3 +#undef PWM4 + +#include "pwm_config.h" + +/** When true, start transmission. */ +uint8_t pwm_mp_go; + +/** Initialise communication with motor-power-avr. */ +void +pwm_mp_init (void) +{ +#if PWM1or2 || PWM3or4 + spi_init (SPI_IT_DISABLE | SPI_ENABLE | SPI_MSB_FIRST | SPI_MASTER | + SPI_CPOL_FALLING | SPI_CPHA_SETUP | SPI_FOSC_DIV16); +#endif +} + +/** Update PWM values. */ +void +pwm_mp_update (void) +{ +#if PWM1or2 || PWM3or4 + uint8_t v; + uint8_t cks; + if (PWM1c (PWM1) || PWM2c (PWM2) || PWM3c (PWM3) || PWM4c (PWM4)) + pwm_mp_go = 1; + if (!pwm_mp_go) + return; +#endif +#if PWM1or2 + /* Chip enable. */ + PORTB &= ~_BV (0); + /* Convert to 12 bits. */ + uint16_t pwm1 = PWM1c (PWM1) << 1; + uint16_t pwm2 = PWM2c (PWM2) << 1; + /* Send, computing checksum on the way. */ + cks = 0x42; + v = ((pwm1 >> 4) & 0xf0) | ((pwm2 >> 8) & 0x0f); + spi_send (v); + cks ^= v; + v = pwm1; + spi_send (v); + cks ^= v; + v = pwm2; + spi_send (v); + cks ^= v; + spi_send (cks); + /* Chip disable. */ + PORTB |= _BV (0); +#endif +} + -- cgit v1.2.3