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authorNicolas Schodet2008-04-14 00:53:22 +0200
committerNicolas Schodet2008-04-14 00:53:22 +0200
commit737e4f3e487c8849aab3900625ee64edb02ec263 (patch)
tree5fdf4ed76271e0d8c85c1e917a97b329da699694 /digital/asserv/src/asserv/pwm_mp.avr.c
parent144cd0c5de0042b880f36cf0db3f01a6060dabd7 (diff)
* digital/asserv/src/asserv:
- added motor-power-avr support.
Diffstat (limited to 'digital/asserv/src/asserv/pwm_mp.avr.c')
-rw-r--r--digital/asserv/src/asserv/pwm_mp.avr.c87
1 files changed, 87 insertions, 0 deletions
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
+}
+