From 2104cfdea2b4e3cb719d454f73e90f9b7be7fafb Mon Sep 17 00:00:00 2001 From: Guillaume Chevillot Date: Sun, 2 Mar 2008 22:46:46 +0100 Subject: - Fixed and improved outputs initializations - Use LEDs to show command status --- analog/motor-power-avr/src/mp_pwm_LR_.h | 30 +++++++++++++++++++++++++++++- 1 file changed, 29 insertions(+), 1 deletion(-) (limited to 'analog/motor-power-avr/src/mp_pwm_LR_.h') diff --git a/analog/motor-power-avr/src/mp_pwm_LR_.h b/analog/motor-power-avr/src/mp_pwm_LR_.h index 2fe44d65..999ecd67 100644 --- a/analog/motor-power-avr/src/mp_pwm_LR_.h +++ b/analog/motor-power-avr/src/mp_pwm_LR_.h @@ -48,7 +48,6 @@ #define _L_BL_1 PORTC |= 0x20 #define _L_BL_0 PORTC &= ~0x20 - // _R_AH : PORTD6 #define _R_AH_1 PORTD |= 0x40 #define _R_AH_0 PORTD &= ~0x40 @@ -62,6 +61,35 @@ #define _R_BL_1 PORTC |= 0x08 #define _R_BL_0 PORTC &= ~0x08 +// _L_LED0 : PORTB0 +#define _L_LED0_1 PORTB |= 0x01 +#define _L_LED0_0 PORTB &= ~0x01 + +// _L_LED1 : PORTB1 +#define _L_LED1_1 PORTB |= 0x02 +#define _L_LED1_0 PORTB &= ~0x02 + +// _R_LED0 : PORTB3 +#define _R_LED0_1 PORTB |= 0x04 +#define _R_LED0_0 PORTB &= ~0x04 + +// _R_LED1 : PORTB4 +#define _R_LED1_1 PORTB |= 0x08 +#define _R_LED1_0 PORTB &= ~0x08 + +#define _L_ACTIVATE_OUTPUTS \ + { \ + DDRC |= 0xf0; /* PWM outputs */ \ + DDRB |= 0x03; /* LED outputs */ \ + } + +#define _R_ACTIVATE_OUTPUTS \ + { \ + DDRC |= 0x0c; /* PWM outputs */ \ + DDRD |= 0xc0; \ + DDRB |= 0x0c; /* LED outputs */ \ + } + // Timer for _L_ and _R_ control #define TCNT_L_ TCNT0 #define TCNT_R_ TCNT2 -- cgit v1.2.3