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authorNicolas Schodet2011-10-03 21:03:58 +0200
committerNicolas Schodet2012-03-05 23:55:18 +0100
commitb1f14380727106642388a6d32baa3a4103a03a9b (patch)
tree9b6947ecb7733286ab73444a666ef9b254600719
parent1298f5bd10d751fc34a934077f48a8e363aa5e91 (diff)
digital/avr/modules/motor: add new output module
-rw-r--r--digital/avr/modules/motor/output/Makefile5
-rw-r--r--digital/avr/modules/motor/output/Makefile.module1
-rw-r--r--digital/avr/modules/motor/output/avrconfig.h36
-rw-r--r--digital/avr/modules/motor/output/output.c90
-rw-r--r--digital/avr/modules/motor/output/output.h68
-rw-r--r--digital/avr/modules/motor/output/output.txt34
-rw-r--r--digital/avr/modules/motor/output/output_host.h37
-rw-r--r--digital/avr/modules/motor/output/output_host.host.c37
-rw-r--r--digital/avr/modules/motor/output/pwm_mp/Makefile.module1
-rw-r--r--digital/avr/modules/motor/output/pwm_mp/avrconfig.h37
-rw-r--r--digital/avr/modules/motor/output/pwm_mp/output_pwm_mp.avr.c165
-rw-r--r--digital/avr/modules/motor/output/pwm_mp/output_pwm_mp.h37
-rw-r--r--digital/avr/modules/motor/output/pwm_ocr/Makefile.module1
-rw-r--r--digital/avr/modules/motor/output/pwm_ocr/avrconfig.h53
-rw-r--r--digital/avr/modules/motor/output/pwm_ocr/output_pwm_ocr.avr.c203
-rw-r--r--digital/avr/modules/motor/output/pwm_ocr/output_pwm_ocr.h37
-rw-r--r--digital/avr/modules/motor/output/test/Makefile23
-rw-r--r--digital/avr/modules/motor/output/test/avrconfig_both.h136
-rw-r--r--digital/avr/modules/motor/output/test/avrconfig_mp.h109
-rw-r--r--digital/avr/modules/motor/output/test/avrconfig_ocr.h117
-rw-r--r--digital/avr/modules/motor/output/test/test_output.c154
21 files changed, 1381 insertions, 0 deletions
diff --git a/digital/avr/modules/motor/output/Makefile b/digital/avr/modules/motor/output/Makefile
new file mode 100644
index 00000000..be444ddb
--- /dev/null
+++ b/digital/avr/modules/motor/output/Makefile
@@ -0,0 +1,5 @@
+BASE = ../../..
+DOC = output.html
+EXTRACTDOC = output.h avrconfig.h
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/motor/output/Makefile.module b/digital/avr/modules/motor/output/Makefile.module
new file mode 100644
index 00000000..cc7dac52
--- /dev/null
+++ b/digital/avr/modules/motor/output/Makefile.module
@@ -0,0 +1 @@
+motor_output_SOURCES = output.c output_host.host.c
diff --git a/digital/avr/modules/motor/output/avrconfig.h b/digital/avr/modules/motor/output/avrconfig.h
new file mode 100644
index 00000000..74f9ce7a
--- /dev/null
+++ b/digital/avr/modules/motor/output/avrconfig.h
@@ -0,0 +1,36 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h - motor/output configuration template. */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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.
+ *
+ * }}} */
+
+/* motor/output - Output module. */
+/** Use Output Compare PWM output module. */
+#define AC_OUTPUT_USE_PWM_OCR 1
+/** Use Motor Power PWM output module. */
+#define AC_OUTPUT_USE_PWM_MP 0
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST (pwm_ocr, 0), (pwm_ocr, 1)
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/motor/output/output.c b/digital/avr/modules/motor/output/output.c
new file mode 100644
index 00000000..f1e87b95
--- /dev/null
+++ b/digital/avr/modules/motor/output/output.c
@@ -0,0 +1,90 @@
+/* output.c */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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 "output.h"
+
+#ifdef HOST
+# include "output_host.h"
+# define OUTPUT_MODULES ,host
+#else
+# if AC_OUTPUT_USE_PWM_OCR
+# include "pwm_ocr/output_pwm_ocr.h"
+# define OUTPUT_MODULE_1 ,pwm_ocr
+# else
+# define OUTPUT_MODULE_1
+# endif
+# if AC_OUTPUT_USE_PWM_MP
+# include "pwm_mp/output_pwm_mp.h"
+# define OUTPUT_MODULE_2 ,pwm_mp
+# else
+# define OUTPUT_MODULE_2
+# endif
+# define OUTPUT_MODULES \
+ OUTPUT_MODULE_1 OUTPUT_MODULE_2
+#endif
+
+void
+output_init (uint8_t index, output_t *output)
+{
+ /* Initialize corresponding module. */
+#ifdef HOST
+ output_host_init (index, output);
+#else
+# define output_init__(module, module_index) \
+ PREPROC_PASTE (output_, module, _init) (module_index, output)
+# define output_init_(index, output_info) \
+ case index: output_init__ output_info; break;
+ switch (index)
+ {
+ PREPROC_FOR_ENUM (output_init_, AC_OUTPUT_LIST)
+ }
+#endif
+}
+
+void
+output_set (output_t *output, int16_t value)
+{
+ /* Reverse output if requested. */
+ if (output->reverse)
+ value = -value;
+ /* Saturation and dead zone. */
+ if (value > output->max)
+ output->cur = output->max;
+ else if (value < -output->max)
+ output->cur = -output->max;
+ else if (value > -output->min && value < output->min)
+ output->cur = 0;
+ else
+ output->cur = value;
+}
+
+void
+output_update (void)
+{
+ /* Update each module. */
+#define output_update_(module) PREPROC_PASTE (output_, module, _update) ();
+ PREPROC_FOR (output_update_ OUTPUT_MODULES)
+}
+
diff --git a/digital/avr/modules/motor/output/output.h b/digital/avr/modules/motor/output/output.h
new file mode 100644
index 00000000..a2b19b69
--- /dev/null
+++ b/digital/avr/modules/motor/output/output.h
@@ -0,0 +1,68 @@
+#ifndef output_h
+#define output_h
+/* output.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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 "preproc.h"
+
+/** Absolute maximum output value for any output. */
+#define OUTPUT_MAX 0x3ff
+
+/** Number of defined outputs. */
+#define OUTPUT_NB PREPROC_NARG (AC_OUTPUT_LIST)
+
+/** Output state. */
+struct output_t
+{
+ /** Current value. */
+ int16_t cur;
+ /** Maximum value. */
+ int16_t max;
+ /** Minimum value (dead zone). */
+ int16_t min;
+ /** Reverse this output. */
+ uint8_t reverse;
+};
+typedef struct output_t output_t;
+
+/** Initialize an output and attach it to provided output structure. */
+void
+output_init (uint8_t index, output_t *output);
+
+/** Set output value. */
+void
+output_set (output_t *output, int16_t value);
+
+/** Set output reverse flag. */
+extern inline void
+output_set_reverse (output_t *output, uint8_t reverse)
+{
+ output->reverse = reverse;
+}
+
+/** Update output value in hardware. */
+void
+output_update (void);
+
+#endif /* output_h */
diff --git a/digital/avr/modules/motor/output/output.txt b/digital/avr/modules/motor/output/output.txt
new file mode 100644
index 00000000..e63ca61a
--- /dev/null
+++ b/digital/avr/modules/motor/output/output.txt
@@ -0,0 +1,34 @@
+=====================
+ motor/output module
+=====================
+:Author: Nicolas Schodet
+
+Introduction
+============
+
+The output module provides an interface with hardware outputs. They are
+usually PWM hardware connected to a H-bridge to power the motors.
+
+Usage
+=====
+
+The `output_t` structure contains information about the current state and
+configuration of the output. The `max` and `min` fields must be initialised
+by user code (you can use a data initializer) and left untouched afterward,
+then `output_init` should be called to associate each output with hardware.
+
+Each output hardware is associated with an index fixed in the compile time
+configuration.
+
+To change the current output value, use the `output_set` function. It will
+filter value (saturation with `max`, dead zone with `min`, optional negation
+if `reverse` is set) and store it for next update. Each output hardware will
+reflect this value once `output_update` is called.
+
+An output can be reversed by setting the `reverse` field before `output_init`
+is called or using `output_set_reverse` function.
+
+API
+===
+
+.. include:: output.exd
diff --git a/digital/avr/modules/motor/output/output_host.h b/digital/avr/modules/motor/output/output_host.h
new file mode 100644
index 00000000..9c2845ca
--- /dev/null
+++ b/digital/avr/modules/motor/output/output_host.h
@@ -0,0 +1,37 @@
+#ifndef output_host_h
+#define output_host_h
+/* output_host.h */
+/* {{{
+ *
+ * Copyright (C) 2011 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 "output.h"
+
+/** See output_init. */
+void
+output_host_init (uint8_t index, output_t *output);
+
+/** See output_update. */
+void
+output_host_update (void);
+
+#endif /* output_host_h */
diff --git a/digital/avr/modules/motor/output/output_host.host.c b/digital/avr/modules/motor/output/output_host.host.c
new file mode 100644
index 00000000..e11a6737
--- /dev/null
+++ b/digital/avr/modules/motor/output/output_host.host.c
@@ -0,0 +1,37 @@
+/* output_host.c */
+/* {{{
+ *
+ * Copyright (C) 2011 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 "output_host.h"
+
+void
+output_host_init (uint8_t index, output_t *output)
+{
+}
+
+void
+output_host_update (void)
+{
+}
+
diff --git a/digital/avr/modules/motor/output/pwm_mp/Makefile.module b/digital/avr/modules/motor/output/pwm_mp/Makefile.module
new file mode 100644
index 00000000..e08ad057
--- /dev/null
+++ b/digital/avr/modules/motor/output/pwm_mp/Makefile.module
@@ -0,0 +1 @@
+motor_output_pwm_mp_SOURCES = output_pwm_mp.avr.c
diff --git a/digital/avr/modules/motor/output/pwm_mp/avrconfig.h b/digital/avr/modules/motor/output/pwm_mp/avrconfig.h
new file mode 100644
index 00000000..e4d2ffb2
--- /dev/null
+++ b/digital/avr/modules/motor/output/pwm_mp/avrconfig.h
@@ -0,0 +1,37 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h - motor/output/pwm_mp configuration template. */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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.
+ *
+ * }}} */
+
+/* motor/output/pwm_mp - Motor Power board PWM output module. */
+/** Number of outputs, there is two outputs per board. */
+#define AC_OUTPUT_PWM_MP_NB 4
+/** Slave select for first Motor Power board.
+ * WARNING: this must match hardware SS pin if using hardware SPI! */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_0 B, 0
+/** Slave select for next Motor Power boards. */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_1 E, 4
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/motor/output/pwm_mp/output_pwm_mp.avr.c b/digital/avr/modules/motor/output/pwm_mp/output_pwm_mp.avr.c
new file mode 100644
index 00000000..4e644da9
--- /dev/null
+++ b/digital/avr/modules/motor/output/pwm_mp/output_pwm_mp.avr.c
@@ -0,0 +1,165 @@
+/* output_pwm_mp.avr.c */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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 "output_pwm_mp.h"
+
+#include "modules/spi/spi.h"
+#include "io.h"
+
+/** Define the maximum PWM value for motor power.
+ * This value is lowered until the bug relatives to maximum value is fixed
+ * (rounding after shifting bug). */
+#define OUTPUT_PWM_MP_MAX 0x3f0
+
+/* Test given configuration. */
+#if AC_OUTPUT_PWM_MP_NB != 2 && AC_OUTPUT_PWM_MP_NB != 4
+# error "motor/output/pwm_mp: unsupported configuration"
+#endif
+
+/* Define test macro. */
+#define IF_MP(mp) (AC_OUTPUT_PWM_MP_NB >= ((mp) + 1) * 2)
+
+/** Output information. */
+struct output_pwm_mp_t
+{
+ /** Associated output state. */
+ struct output_t *output;
+};
+typedef struct output_pwm_mp_t output_pwm_mp_t;
+
+/** Global output information. */
+output_pwm_mp_t output_pwm_mp[AC_OUTPUT_PWM_MP_NB];
+
+/** Global enable flag. */
+uint8_t output_pwm_mp_go;
+
+static void
+output_pwm_mp_update_single (int16_t value1, int16_t value2);
+
+/** Initialize hardware, to be done once. */
+static void
+output_pwm_mp_init_hardware (void)
+{
+ static uint8_t inited;
+ if (!inited)
+ {
+#if IF_MP (0) && SPI0_DRIVER != SPI_DRIVER_HARD
+ /* This is done in spi_init for hardware driver. */
+ IO_SET (AC_OUTPUT_PWM_MP_SPI_SS_IO_0);
+ IO_OUTPUT (AC_OUTPUT_PWM_MP_SPI_SS_IO_0);
+#endif
+#if IF_MP (1)
+ IO_SET (AC_OUTPUT_PWM_MP_SPI_SS_IO_1);
+ IO_OUTPUT (AC_OUTPUT_PWM_MP_SPI_SS_IO_1);
+#endif
+ /* Initialise SPI. */
+ spi_init (SPI_MASTER, SPI_CPOL_FALLING | SPI_CPHA_SETUP,
+ SPI_MSB_FIRST, SPI_FOSC_DIV16);
+ /* Reset PWM values at reset. */
+#if IF_MP (0)
+ IO_CLR (AC_OUTPUT_PWM_MP_SPI_SS_IO_0);
+ output_pwm_mp_update_single (0, 0);
+ IO_SET (AC_OUTPUT_PWM_MP_SPI_SS_IO_0);
+#endif
+#if IF_MP (1)
+ IO_CLR (AC_OUTPUT_PWM_MP_SPI_SS_IO_1);
+ output_pwm_mp_update_single (0, 0);
+ IO_SET (AC_OUTPUT_PWM_MP_SPI_SS_IO_1);
+#endif
+ /* Done. */
+ inited = 1;
+ }
+}
+
+void
+output_pwm_mp_init (uint8_t index, output_t *output)
+{
+ /* Need initialized hardware. */
+ output_pwm_mp_init_hardware ();
+ /* Keep output structure for future usage. */
+ output_pwm_mp[index].output = output;
+ /* Reduce maximum output if needed. */
+ if (output->max > OUTPUT_PWM_MP_MAX)
+ output->max = OUTPUT_PWM_MP_MAX;
+}
+
+/** Transmit value to currently selected slave. */
+static void
+output_pwm_mp_update_single (int16_t value1, int16_t value2)
+{
+ uint8_t v;
+ uint8_t cks;
+ /* Convert to 12 bits. */
+ int16_t pwm1c = value1 << 1;
+ int16_t pwm2c = value2 << 1;
+ /* Send, computing checksum on the way. */
+ cks = 0x42;
+ v = ((pwm1c >> 4) & 0xf0) | ((pwm2c >> 8) & 0x0f);
+ spi_send (v);
+ cks ^= v;
+ v = pwm1c;
+ spi_send (v);
+ cks ^= v;
+ v = pwm2c;
+ spi_send (v);
+ cks ^= v;
+ spi_send (cks);
+}
+
+void
+output_pwm_mp_update (void)
+{
+ uint8_t i;
+ /* Activate output at first non zero value. */
+ if (!output_pwm_mp_go)
+ {
+ for (i = 0; i < AC_OUTPUT_PWM_MP_NB; i++)
+ if (output_pwm_mp[i].output->cur)
+ output_pwm_mp_go = 1;
+ }
+ /* Update each output. */
+ if (output_pwm_mp_go)
+ {
+#if IF_MP (0)
+ /* Slave select. */
+ IO_CLR (AC_OUTPUT_PWM_MP_SPI_SS_IO_0);
+ /* Transmit values. */
+ output_pwm_mp_update_single (output_pwm_mp[0].output->cur,
+ output_pwm_mp[1].output->cur);
+ /* Slave deselect. */
+ IO_SET (AC_OUTPUT_PWM_MP_SPI_SS_IO_0);
+#endif
+#if IF_MP (1)
+ /* Slave select. */
+ IO_CLR (AC_OUTPUT_PWM_MP_SPI_SS_IO_1);
+ /* Transmit values. */
+ output_pwm_mp_update_single (output_pwm_mp[2].output->cur,
+ output_pwm_mp[3].output->cur);
+ /* Slave deselect. */
+ IO_SET (AC_OUTPUT_PWM_MP_SPI_SS_IO_1);
+#endif
+ }
+}
+
diff --git a/digital/avr/modules/motor/output/pwm_mp/output_pwm_mp.h b/digital/avr/modules/motor/output/pwm_mp/output_pwm_mp.h
new file mode 100644
index 00000000..9aa0f6ad
--- /dev/null
+++ b/digital/avr/modules/motor/output/pwm_mp/output_pwm_mp.h
@@ -0,0 +1,37 @@
+#ifndef output_pwm_mp_h
+#define output_pwm_mp_h
+/* output_pwm_mp.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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 "modules/motor/output/output.h"
+
+/** See output_init. */
+void
+output_pwm_mp_init (uint8_t index, output_t *output);
+
+/** See output_update. */
+void
+output_pwm_mp_update (void);
+
+#endif /* output_pwm_mp_h */
diff --git a/digital/avr/modules/motor/output/pwm_ocr/Makefile.module b/digital/avr/modules/motor/output/pwm_ocr/Makefile.module
new file mode 100644
index 00000000..f45cc8ea
--- /dev/null
+++ b/digital/avr/modules/motor/output/pwm_ocr/Makefile.module
@@ -0,0 +1 @@
+motor_output_pwm_ocr_SOURCES = output_pwm_ocr.avr.c
diff --git a/digital/avr/modules/motor/output/pwm_ocr/avrconfig.h b/digital/avr/modules/motor/output/pwm_ocr/avrconfig.h
new file mode 100644
index 00000000..ed562039
--- /dev/null
+++ b/digital/avr/modules/motor/output/pwm_ocr/avrconfig.h
@@ -0,0 +1,53 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h - motor/output/pwm_ocr configuration template. */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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.
+ *
+ * }}} */
+
+/* Example from mimot board. */
+
+/* motor/output/pwm_ocr - Output Compare PWM output module. */
+/** For each output, define output parameters:
+ *
+ * (timer, ocr, pwm_io, dir_io[, brake_io])
+ *
+ * With:
+ * - timer: timer number (ex: 1 for TIMER1)
+ * - ocr: output compare (ex: A for output compare A)
+ * - mode: compare output mode (ex: 2, see datasheet)
+ * - pwm_io: corresponding io port (ex: B, 1)
+ * - dir_io: io port used for direction (ex: B, 2)
+ * - brake_io: optional io port used for brake (ex: B, 3)
+ */
+#define AC_OUTPUT_PWM_OCR_LIST \
+ (1, A, 2, D,5, D,3, A,4), \
+ (1, B, 2, D,4, D,2, A,5)
+/** Clock select for each used timer. */
+#define AC_OUTPUT_PWM_OCR_CS_1 0b0001
+/** Waveform Generation Mode for each used timer. */
+#define AC_OUTPUT_PWM_OCR_WGM_1 0b0011
+/** Offset added to PWM value to compensate for H-bridge weakness. */
+#define AC_OUTPUT_PWM_OCR_OFFSET 0x40
+
+#endif /* avrconfig_h */
diff --git a/digital/avr/modules/motor/output/pwm_ocr/output_pwm_ocr.avr.c b/digital/avr/modules/motor/output/pwm_ocr/output_pwm_ocr.avr.c
new file mode 100644
index 00000000..635b9bef
--- /dev/null
+++ b/digital/avr/modules/motor/output/pwm_ocr/output_pwm_ocr.avr.c
@@ -0,0 +1,203 @@
+/* output_pwm_ocr.c */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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 "output_pwm_ocr.h"
+
+#include "preproc.h"
+#include "io.h"
+
+/** Mask of used timer. */
+#define TIMERS_MASK \
+ (0 PREPROC_FOR (TIMERS_MASK_, AC_OUTPUT_PWM_OCR_LIST))
+#define TIMERS_MASK_(output) TIMERS_MASK__ output
+#define TIMERS_MASK__(timer, args...) | _BV (timer)
+
+/** Test for compatible AVR. */
+#if defined (__AVR_ATmega32__)
+# define SUPPORTED_TIMERS 1
+# define SUPPORTED_TIMERS_MASK 0b0010
+#elif defined (__AVR_ATmega64__) \
+ || defined (__AVR_ATmega128__) \
+ || defined (__AVR_AT90USB646__) \
+ || defined (__AVR_AT90USB647__) \
+ || defined (__AVR_AT90USB1286__) \
+ || defined (__AVR_AT90USB1287__)
+# define SUPPORTED_TIMERS 1, 3
+# define SUPPORTED_TIMERS_MASK 0b1010
+#else
+# error "motor/output/pwm_ocr: not tested on this chip"
+#endif
+#if (TIMERS_MASK & ~(SUPPORTED_TIMERS_MASK))
+# error "motor/output/pwm_ocr: unsupported configuration"
+#endif
+
+/** Define timer test macros. */
+#if TIMERS_MASK & _BV (1)
+# define IF_TIMER_1(x) x
+#else
+# define IF_TIMER_1(x)
+#endif
+#if TIMERS_MASK & _BV (3)
+# define IF_TIMER_3(x) x
+#else
+# define IF_TIMER_3(x)
+#endif
+#define IF_TIMER(timer, x) PREPROC_PASTE (IF_TIMER_, timer) (x)
+
+/** Output information. */
+struct output_pwm_ocr_t
+{
+ /** Associated output state. */
+ struct output_t *output;
+};
+typedef struct output_pwm_ocr_t output_pwm_ocr_t;
+
+/** Global output information. */
+output_pwm_ocr_t output_pwm_ocr[PREPROC_NARG (AC_OUTPUT_PWM_OCR_LIST)];
+
+/** Initialize hardware, to be done once. */
+static void
+output_pwm_ocr_init_hardware (void)
+{
+ static uint8_t inited;
+ if (!inited)
+ {
+ /* Declare a variable for each used timer to receive compare output
+ * mode bits. */
+#define DECLARE_TIMER(timer) \
+ IF_TIMER (timer, uint8_t PREPROC_PASTE (timer_com_, timer) = 0;)
+ PREPROC_FOR (DECLARE_TIMER, SUPPORTED_TIMERS);
+#undef DECLARE_TIMER
+ /* Configure each output, set compare output mode variables. */
+#define CONFIGURE_OUTPUT(output) CONFIGURE_OUTPUT_ output
+#define CONFIGURE_OUTPUT_(args...) PREPROC_NARG_CALL (CONFIGURE_OUTPUT_, args)
+#define CONFIGURE_OUTPUT_7(timer, ocr, mode, pwm_io_port, pwm_io_bit, \
+ dir_io_port, dir_io_bit) \
+ PREPROC_PASTE (timer_com_, timer) |= (mode) \
+ << PREPROC_PASTE (COM, timer, ocr, 0); \
+ IO_OUTPUT_ (pwm_io_port, pwm_io_bit); \
+ IO_OUTPUT_ (dir_io_port, dir_io_bit);
+#define CONFIGURE_OUTPUT_9(timer, ocr, mode, pwm_io_port, pwm_io_bit, \
+ dir_io_port, dir_io_bit, \
+ brake_io_port, brake_io_bit) \
+ CONFIGURE_OUTPUT_7 (timer, ocr, mode, pwm_io_port, pwm_io_bit, \
+ dir_io_port, dir_io_bit) \
+ IO_OUTPUT_ (brake_io_port, brake_io_bit);
+ PREPROC_FOR (CONFIGURE_OUTPUT, AC_OUTPUT_PWM_OCR_LIST);
+#undef CONFIGURE_OUTPUT
+#undef CONFIGURE_OUTPUT_
+#undef CONFIGURE_OUTPUT_7
+#undef CONFIGURE_OUTPUT_9
+ /* Initialise used timers. */
+#define WGM_BIT(timer, bit) \
+ ((PREPROC_PASTE (AC_OUTPUT_PWM_OCR_WGM_, timer) & _BV (bit)) \
+ ? _BV (PREPROC_PASTE (WGM, timer, bit)) : 0)
+#define INIT_TIMER(timer) IF_TIMER (timer, INIT_TIMER_ (timer))
+#define INIT_TIMER_(timer) \
+ PREPROC_PASTE (TCCR, timer, A) = \
+ WGM_BIT (timer, 0) | WGM_BIT (timer, 1) \
+ | PREPROC_PASTE (timer_com_, timer); \
+ PREPROC_PASTE (TCCR, timer, B) = \
+ WGM_BIT (timer, 2) | WGM_BIT (timer, 3) \
+ | PREPROC_PASTE (AC_OUTPUT_PWM_OCR_CS_, timer); \
+ PREPROC_FOR (INIT_TIMER, SUPPORTED_TIMERS);
+#undef WGM_BIT
+#undef INIT_TIMER
+#undef INIT_TIMER_
+ /* Done. */
+ inited = 1;
+ }
+}
+
+void
+output_pwm_ocr_init (uint8_t index, output_t *output)
+{
+ /* Need initialized hardware. */
+ output_pwm_ocr_init_hardware ();
+ /* Keep output structure for future usage. */
+ output_pwm_ocr[index].output = output;
+ /* Reduce maximum output if needed. */
+ if (output->max > OUTPUT_MAX - AC_OUTPUT_PWM_OCR_OFFSET)
+ output->max = OUTPUT_MAX - AC_OUTPUT_PWM_OCR_OFFSET;
+}
+
+/** Update a single output. */
+static inline void
+output_pwm_ocr_update_output (uint8_t index, volatile uint16_t *ocr,
+ volatile uint8_t *dir_io_port,
+ uint8_t dir_io_bit,
+ volatile uint8_t *brake_io_port,
+ uint8_t brake_io_bit)
+{
+ /* Here, there could be a problem because OCRx are double buffered, not
+ * PORTx!
+ * Another problem arise if the OCR sampling is done between left and
+ * right OCR: the right PWM is one cycle late.
+ * A solution could be to use interrupts to update PWM or to synchronise
+ * general timer with PWM. */
+ int16_t value = output_pwm_ocr[index].output->cur;
+ if (value == 0)
+ {
+ *ocr = 0;
+ }
+ else
+ {
+ /* Brake is engaged on first non null value. */
+ if (brake_io_port)
+ *brake_io_port |= _BV (brake_io_bit);
+ /* Convert signed value to sign and absolute value. */
+ if (value < 0)
+ {
+ *dir_io_port &= ~_BV (dir_io_bit);
+ *ocr = -value + AC_OUTPUT_PWM_OCR_OFFSET;
+ }
+ else
+ {
+ *dir_io_port |= _BV (dir_io_bit);
+ *ocr = value + AC_OUTPUT_PWM_OCR_OFFSET;
+ }
+ }
+}
+
+void
+output_pwm_ocr_update (void)
+{
+ /* Update each output, code will be optimized by compiler. */
+#define UPDATE_OUTPUT(index, output) \
+ output_pwm_ocr_update_output (index, UPDATE_OUTPUT_ output);
+#define UPDATE_OUTPUT_(timer, ocr, mode, pwm_io_port, pwm_io_bit, \
+ dir_io_port, dir_io_bit, args...) \
+ &PREPROC_PASTE (OCR, timer, ocr), &IO_PORT_ (dir_io_port, dir_io_bit), \
+ dir_io_bit, PREPROC_NARG_CALL (UPDATE_OUTPUT_BRAKE_, args)
+#define UPDATE_OUTPUT_BRAKE_0() 0, 0
+#define UPDATE_OUTPUT_BRAKE_2(brake_io_port, brake_io_bit) \
+ &IO_PORT_ (brake_io_port, brake_io_bit), brake_io_bit
+ PREPROC_FOR_ENUM (UPDATE_OUTPUT, AC_OUTPUT_PWM_OCR_LIST)
+#undef UPDATE_OUTPUT
+#undef UPDATE_OUTPUT_
+#undef UPDATE_OUTPUT_BRAKE_0
+#undef UPDATE_OUTPUT_BRAKE_2
+}
+
diff --git a/digital/avr/modules/motor/output/pwm_ocr/output_pwm_ocr.h b/digital/avr/modules/motor/output/pwm_ocr/output_pwm_ocr.h
new file mode 100644
index 00000000..38ed0634
--- /dev/null
+++ b/digital/avr/modules/motor/output/pwm_ocr/output_pwm_ocr.h
@@ -0,0 +1,37 @@
+#ifndef output_pwm_ocr_h
+#define output_pwm_ocr_h
+/* output_pwm_ocr.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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 "modules/motor/output/output.h"
+
+/** See output_init. */
+void
+output_pwm_ocr_init (uint8_t index, output_t *output);
+
+/** See output_update. */
+void
+output_pwm_ocr_update (void);
+
+#endif /* output_pwm_ocr_h */
diff --git a/digital/avr/modules/motor/output/test/Makefile b/digital/avr/modules/motor/output/test/Makefile
new file mode 100644
index 00000000..33c13d9c
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/Makefile
@@ -0,0 +1,23 @@
+BASE = ../../../..
+PROGS = test_output
+test_output_SOURCES = test_output.c
+MODULES = utils uart proto motor/output $(OUTPUT_MODULE)
+CONFIGFILE = avrconfig_ocr.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega32
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -Os
+
+ifeq ($(CONFIGFILE),avrconfig_ocr.h)
+OUTPUT_MODULE = motor/output/pwm_ocr
+else ifeq ($(CONFIGFILE),avrconfig_mp.h)
+OUTPUT_MODULE = motor/output/pwm_mp spi
+else
+OUTPUT_MODULE = motor/output/pwm_ocr motor/output/pwm_mp spi
+endif
+
+TEST_MCU = atmega128
+TEST_CONFIGFILES = avrconfig_mp.h avrconfig_both.h
+
+include $(BASE)/make/Makefile.gen
diff --git a/digital/avr/modules/motor/output/test/avrconfig_both.h b/digital/avr/modules/motor/output/test/avrconfig_both.h
new file mode 100644
index 00000000..7ef23ac3
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/avrconfig_both.h
@@ -0,0 +1,136 @@
+#ifndef avrconfig_both_h
+#define avrconfig_both_h
+/* avrconfig_both.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* motor/output - Output module. */
+/** Use Output Compare PWM output. */
+#define AC_OUTPUT_USE_PWM_OCR 1
+/** Use Motor Power PWM output. */
+#define AC_OUTPUT_USE_PWM_MP 1
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST \
+ (pwm_ocr, 0), (pwm_ocr, 1), (pwm_ocr, 2), (pwm_ocr, 3), \
+ (pwm_mp, 0), (pwm_mp, 1), (pwm_mp, 2), (pwm_mp, 3)
+
+/* motor/output/pwm_ocr - Output Compare PWM output module. */
+/** For each output, define output parameters:
+ *
+ * (timer, ocr, pwm_io, dir_io[, brake_io])
+ *
+ * With:
+ * - timer: timer number (ex: 1 for TIMER1)
+ * - ocr: output compare (ex: A for output compare A)
+ * - mode: compare output mode (ex: 2, see datasheet)
+ * - pwm_io: corresponding io port (ex: B, 1)
+ * - dir_io: io port used for direction (ex: B, 2)
+ * - brake_io: optional io port used for brake (ex: B, 3)
+ */
+#define AC_OUTPUT_PWM_OCR_LIST \
+ (1, B, 2, B,6, B,4), \
+ (1, C, 2, B,7, B,5), \
+ (3, B, 2, E,4, E,2), \
+ (3, C, 2, E,5, E,3)
+/** Clock select for each used timer. */
+#define AC_OUTPUT_PWM_OCR_CS_1 0b0001
+/** Waveform Generation Mode for each used timer. */
+#define AC_OUTPUT_PWM_OCR_WGM_1 0b0111
+/** Offset added to PWM value to compensate for H-bridge weakness. */
+#define AC_OUTPUT_PWM_OCR_OFFSET 0
+
+/* motor/output/pwm_mp - Motor Power board PWM output module. */
+/** Number of outputs, there is two outputs per board. */
+#define AC_OUTPUT_PWM_MP_NB 4
+/** Slave select for first Motor Power board.
+ * WARNING: this must match hardware SS pin if using hardware SPI! */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_0 B, 0
+/** Slave select for next Motor Power boards. */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_1 E, 4
+
+/* spi - SPI module. */
+/** Select driver: HARD, SOFT, or NONE. */
+#define AC_SPI0_DRIVER HARD
+/** Same thing for an optionnal second SPI driver. */
+#define AC_SPI1_DRIVER NONE
+
+#endif /* avrconfig_both_h */
diff --git a/digital/avr/modules/motor/output/test/avrconfig_mp.h b/digital/avr/modules/motor/output/test/avrconfig_mp.h
new file mode 100644
index 00000000..1cafe775
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/avrconfig_mp.h
@@ -0,0 +1,109 @@
+#ifndef avrconfig_mp_h
+#define avrconfig_mp_h
+/* avrconfig_mp.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 1
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* motor/output - Output module. */
+/** Use Output Compare PWM output. */
+#define AC_OUTPUT_USE_PWM_OCR 0
+/** Use Motor Power PWM output. */
+#define AC_OUTPUT_USE_PWM_MP 1
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST (pwm_mp, 0), (pwm_mp, 1), (pwm_mp, 3), (pwm_mp, 2)
+
+/* motor/output/pwm_mp - Motor Power board PWM output module. */
+/** Number of outputs, there is two outputs per board. */
+#define AC_OUTPUT_PWM_MP_NB 4
+/** Slave select for first Motor Power board.
+ * WARNING: this must match hardware SS pin if using hardware SPI! */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_0 B, 0
+/** Slave select for next Motor Power boards. */
+#define AC_OUTPUT_PWM_MP_SPI_SS_IO_1 E, 4
+
+/* spi - SPI module. */
+/** Select driver: HARD, SOFT, or NONE. */
+#define AC_SPI0_DRIVER HARD
+/** Same thing for an optionnal second SPI driver. */
+#define AC_SPI1_DRIVER NONE
+
+#endif /* avrconfig_mp_h */
diff --git a/digital/avr/modules/motor/output/test/avrconfig_ocr.h b/digital/avr/modules/motor/output/test/avrconfig_ocr.h
new file mode 100644
index 00000000..0eb3463a
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/avrconfig_ocr.h
@@ -0,0 +1,117 @@
+#ifndef avrconfig_ocr_h
+#define avrconfig_ocr_h
+/* avrconfig_ocr.h */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 0
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 38400
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL DROP
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+#define AC_UART1_HOST_DRIVER PTS
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 1
+
+/* motor/output - Output module. */
+/** Use Output Compare PWM output. */
+#define AC_OUTPUT_USE_PWM_OCR 1
+/** Use Motor Power PWM output. */
+#define AC_OUTPUT_USE_PWM_MP 0
+/** Define module and module index for each output. */
+#define AC_OUTPUT_LIST (pwm_ocr, 0), (pwm_ocr, 1)
+
+/* motor/output/pwm_ocr - Output Compare PWM output module. */
+/** For each output, define output parameters:
+ *
+ * (timer, ocr, pwm_io, dir_io[, brake_io])
+ *
+ * With:
+ * - timer: timer number (ex: 1 for TIMER1)
+ * - ocr: output compare (ex: A for output compare A)
+ * - mode: compare output mode (ex: 2, see datasheet)
+ * - pwm_io: corresponding io port (ex: B, 1)
+ * - dir_io: io port used for direction (ex: B, 2)
+ * - brake_io: optional io port used for brake (ex: B, 3)
+ */
+#define AC_OUTPUT_PWM_OCR_LIST \
+ (1, A, 2, D,5, D,3, A,4), \
+ (1, B, 2, D,4, D,2, A,5)
+/** Clock select for each used timer. */
+#define AC_OUTPUT_PWM_OCR_CS_1 0b0001
+/** Waveform Generation Mode for each used timer. */
+#define AC_OUTPUT_PWM_OCR_WGM_1 0b0011
+/** Offset added to PWM value to compensate for H-bridge weakness. */
+#define AC_OUTPUT_PWM_OCR_OFFSET 0x40
+
+#endif /* avrconfig_ocr_h */
diff --git a/digital/avr/modules/motor/output/test/test_output.c b/digital/avr/modules/motor/output/test/test_output.c
new file mode 100644
index 00000000..f38c7383
--- /dev/null
+++ b/digital/avr/modules/motor/output/test/test_output.c
@@ -0,0 +1,154 @@
+/* test_output.c */
+/* motor - Motor control module. {{{
+ *
+ * Copyright (C) 2011 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 "modules/utils/utils.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+
+#include "modules/motor/output/output.h"
+
+#include "io.h"
+
+output_t output[OUTPUT_NB];
+
+int16_t target[OUTPUT_NB];
+int16_t current[OUTPUT_NB];
+
+uint16_t output_speed_cpt = 1, output_speed = 250;
+uint16_t output_stat_cpt, output_stat;
+
+int
+main (void)
+{
+ uint8_t i;
+ for (i = 0; i < OUTPUT_NB; i++)
+ {
+ output[i].min = 0x10;
+ output[i].max = OUTPUT_MAX;
+ output_init (i, &output[i]);
+ }
+ uart0_init ();
+ proto_send0 ('z');
+ sei ();
+ while (1)
+ {
+ utils_delay_ms (4);
+ if (output_speed && !--output_speed_cpt)
+ {
+ for (i = 0; i < OUTPUT_NB; i++)
+ {
+ if (target[i] < current[i])
+ current[i]--;
+ else if (target[i] > output[i].cur)
+ current[i]++;
+ output_set (&output[i], current[i]);
+ }
+ output_speed_cpt = output_speed;
+ }
+ if (output_stat && !--output_stat_cpt)
+ {
+ proto_send2w ('W', output[0].cur, output[1].cur);
+ output_stat_cpt = output_stat;
+ }
+ while (uart0_poll ())
+ proto_accept (uart0_getc ());
+ }
+}
+
+/** Handle incoming messages. */
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+ uint8_t i;
+ uint8_t ok = 1;
+ uint8_t index = args[0];
+ int16_t value = v8_to_v16 (args[1], args[2]);
+#define c(cmd, size) (cmd << 8 | size)
+ switch (c (cmd, size))
+ {
+ case c ('z', 0):
+ /* Reset. */
+ utils_reset ();
+ break;
+ case c ('w', 0):
+ /* Set zero value. */
+ for (i = 0; i < OUTPUT_NB; i++)
+ {
+ output_set (&output[index], 0);
+ current[index] = target[index] = 0;
+ }
+ case c ('w', 3):
+ /* Set direct value.
+ * - b: output index.
+ * - w: output value. */
+ if (index < OUTPUT_NB)
+ {
+ output_set (&output[index], value);
+ target[index] = current[index];
+ }
+ else
+ ok = 0;
+ break;
+ case c ('t', 3):
+ /* Set target.
+ * - b: output index.
+ * - w: output target. */
+ if (index < OUTPUT_NB)
+ {
+ current[index] = output[index].cur;
+ target[index] = value;
+ }
+ else
+ ok = 0;
+ break;
+ case c ('s', 2):
+ /* Set targeting speed.
+ * - w: loops between update. */
+ output_speed_cpt = output_speed = v8_to_v16 (args[0], args[1]);
+ break;
+ case c ('r', 2):
+ /* Set reverse flag.
+ * - b: output index.
+ * - b: reverse flag. */
+ if (index < OUTPUT_NB)
+ output_set_reverse (&output[index], args[1]);
+ else
+ ok = 0;
+ break;
+ case c ('W', 2):
+ /* Output stats. */
+ output_stat_cpt = output_stat = v8_to_v16 (args[0], args[1]);
+ break;
+ default:
+ ok = 0;
+ break;
+ }
+ if (ok)
+ proto_send (cmd, size, args);
+ else
+ proto_send0 ('?');
+#undef c
+}