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/Makefile | 7 +- digital/asserv/src/asserv/pwm.avr.c | 220 ++----------------------------- digital/asserv/src/asserv/pwm.h | 6 + digital/asserv/src/asserv/pwm_config.h | 52 ++++++++ digital/asserv/src/asserv/pwm_mp.avr.c | 87 +++++++++++++ digital/asserv/src/asserv/pwm_mp.avr.h | 34 +++++ digital/asserv/src/asserv/pwm_ocr.avr.c | 221 ++++++++++++++++++++++++++++++++ digital/asserv/src/asserv/pwm_ocr.avr.h | 37 ++++++ 8 files changed, 453 insertions(+), 211 deletions(-) create mode 100644 digital/asserv/src/asserv/pwm_config.h create mode 100644 digital/asserv/src/asserv/pwm_mp.avr.c create mode 100644 digital/asserv/src/asserv/pwm_mp.avr.h create mode 100644 digital/asserv/src/asserv/pwm_ocr.avr.c create mode 100644 digital/asserv/src/asserv/pwm_ocr.avr.h (limited to 'digital/asserv') diff --git a/digital/asserv/src/asserv/Makefile b/digital/asserv/src/asserv/Makefile index 7701cd21..f3987bd7 100644 --- a/digital/asserv/src/asserv/Makefile +++ b/digital/asserv/src/asserv/Makefile @@ -2,12 +2,13 @@ BASE = ../../../avr PROGS = asserv AVR_PROGS = test_counter HOST_PROGS = test_motor_model -asserv_SOURCES = main.c timer.avr.c counter_ext.avr.c pwm.avr.c pos.c speed.c \ - postrack.c traj.c twi_proto.c eeprom.avr.c state.c \ +asserv_SOURCES = main.c timer.avr.c counter_ext.avr.c pwm.avr.c pwm_mp.avr.c \ + pwm_ocr.avr.c pos.c speed.c postrack.c traj.c \ + twi_proto.c eeprom.avr.c state.c \ simu.host.c motor_model.host.c models.host.c test_counter_SOURCES = test_counter.c timer.avr.c test_motor_model_SOURCES = test_motor_model.c motor_model.host.c models.host.c -MODULES = proto uart utils math/fixed twi +MODULES = proto uart utils math/fixed twi spi test_motor_model_MODULES = CONFIGFILE = avrconfig.h # atmega8, atmega8535, atmega128... diff --git a/digital/asserv/src/asserv/pwm.avr.c b/digital/asserv/src/asserv/pwm.avr.c index f2caa220..8d12cc8a 100644 --- a/digital/asserv/src/asserv/pwm.avr.c +++ b/digital/asserv/src/asserv/pwm.avr.c @@ -1,4 +1,4 @@ -/* pwm.avr.c */ +/* pwm.avr.c - Handle all PWM generators. */ /* asserv - Position & speed motor control on AVR. {{{ * * Copyright (C) 2005 Nicolas Schodet @@ -24,96 +24,21 @@ * }}} */ #include "common.h" #include "pwm.h" - -#include "modules/utils/utils.h" -#include "io.h" - -/** Assign PWM outputs. */ -#define PWM1 pwm_left -#define PWM2 pwm_right -#define PWM3 pwm_aux0 -#undef PWM4 - -#define PWM_REVERSE_BIT(x) PWM_REVERSE_BIT_ (x) -#define PWM_REVERSE_BIT_(x) PWM_REVERSE_BIT_ ## x -#define PWM_REVERSE_BIT_pwm_left _BV (0) -#define PWM_REVERSE_BIT_pwm_right _BV (1) -#define PWM_REVERSE_BIT_pwm_aux0 _BV (2) - -#define PWM1_OCR OCR1B -#define PWM1_OCR_BIT 6 -#define PWM1_DIR 4 -#define PWM2_OCR OCR1C -#define PWM2_OCR_BIT 7 -#define PWM2_DIR 5 -#define PWM3_OCR OCR3B -#define PWM3_OCR_BIT 4 -#define PWM3_DIR 2 -#define PWM4_OCR OCR3C -#define PWM4_OCR_BIT 5 -#define PWM4_DIR 3 - -/* Simplify conditionnal compilation. */ -#define PWM1or2 (defined (PWM1) || defined (PWM2)) -#define PWM3or4 (defined (PWM3) || defined (PWM4)) -#ifdef PWM1 -# define PWM1c(x) x -#else -# define PWM1c(x) 0 -#endif -#ifdef PWM2 -# define PWM2c(x) x -#else -# define PWM2c(x) 0 -#endif -#ifdef PWM3 -# define PWM3c(x) x -#else -# define PWM3c(x) 0 -#endif -#ifdef PWM4 -# define PWM4c(x) x -#else -# define PWM4c(x) 0 -#endif +#include "pwm_mp.avr.h" +#include "pwm_ocr.avr.h" /** PWM values, this is an error if absolute value is greater than the * maximum. */ int16_t pwm_left, pwm_right, pwm_aux0; /** PWM reverse directions. */ uint8_t pwm_reverse; -/** PWM reverse direction, port B. */ -static uint8_t pwm_dir_reverse_b; -/** PWM reverse direction, port E. */ -static uint8_t pwm_dir_reverse_e; -/** Initialise PWM generator. */ +/** Initialise PWM generators. */ void pwm_init (void) { - /* Fast PWM, TOP = 0x3ff, OCnB & OCnC with positive logic. - f_IO without prescaler. - Fpwm = f_IO / (prescaler * (1 + TOP)) = 14400 Hz. */ -#if PWM1or2 - TCCR1A = - regv (COM1A1, COM1A0, COM1B1, COM1B0, COM1C1, COM1C0, WGM11, WGM10, - 0, 0, 1, 0, 1, 0, 1, 1); - TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10, - 0, 0, 0, 0, 1, 0, 0, 1); - /* Enable pwm and direction outputs in DDRB. */ - DDRB |= PWM1c (_BV (PWM1_OCR_BIT) | _BV (PWM1_DIR)) - | PWM2c (_BV (PWM2_OCR_BIT) | _BV (PWM2_DIR)); -#endif -#if PWM3or4 - TCCR3A = - regv (COM3A1, COM3A0, COM3B1, COM3B0, COM3C1, COM3C0, WGM31, WGM30, - 0, 0, 1, 0, 1, 0, 1, 1); - TCCR3B = regv (ICNC3, ICES3, 5, WGM33, WGM32, CS32, CS31, CS30, - 0, 0, 0, 0, 1, 0, 0, 1); - /* Enable pwm and direction outputs in DDRE. */ - DDRE |= PWM3c (_BV (PWM3_OCR_BIT) | _BV (PWM3_DIR)) - | PWM4c (_BV (PWM4_OCR_BIT) | _BV (PWM4_DIR)); -#endif + pwm_mp_init (); + pwm_ocr_init (); } /** Update the hardware PWM values. */ @@ -121,138 +46,17 @@ void pwm_update (void) { /* Some assumption checks. */ - assert (!PWM1c (PWM1 < -PWM_MAX || PWM1 > PWM_MAX)); - assert (!PWM2c (PWM2 < -PWM_MAX || PWM2 > PWM_MAX)); - assert (!PWM3c (PWM3 < -PWM_MAX || PWM3 > PWM_MAX)); - assert (!PWM4c (PWM4 < -PWM_MAX || PWM4 > PWM_MAX)); -#if PWM1or2 - uint8_t dir_b; - /* Sample port B. */ - dir_b = PORTB & ~(PWM1c (_BV (PWM1_DIR)) | PWM2c (_BV (PWM2_DIR))); -# ifdef PWM1 - uint16_t pwm1; - /* Set PWM1. */ - if (PWM1 == 0) - { - pwm1 = 0; - } - else if (PWM1 < 0) - { - pwm1 = -PWM1; - } - else - { - dir_b |= _BV (PWM1_DIR); - pwm1 = PWM1; - } -# endif /* PWM1 */ -# ifdef PWM2 - uint16_t pwm2; - /* Set PWM2. */ - if (PWM2 == 0) - { - pwm2 = 0; - } - else if (PWM2 < 0) - { - pwm2 = -PWM2; - } - else - { - dir_b |= _BV (PWM2_DIR); - pwm2 = PWM2; - } -# endif /* PWM2 */ -#endif /* PWM1or2 */ -#if PWM3or4 - uint8_t dir_e; - /* Sample port E. */ - dir_e = PORTE & ~(PWM3c (_BV (PWM3_DIR)) | PWM4c (_BV (PWM4_DIR))); -# ifdef PWM3 - uint16_t pwm3; - /* Set PWM3. */ - if (PWM3 == 0) - { - pwm3 = 0; - } - else if (PWM3 < 0) - { - pwm3 = -PWM3; - } - else - { - dir_e |= _BV (PWM3_DIR); - pwm3 = PWM3; - } -# endif /* PWM3 */ -# ifdef PWM4 - uint16_t pwm4; - /* Set PWM4. */ - if (PWM4 == 0) - { - pwm4 = 0; - } - else if (PWM4 < 0) - { - pwm4 = -PWM4; - } - else - { - dir_e |= _BV (PWM4_DIR); - pwm4 = PWM4; - } -# endif /* PWM4 */ -#endif /* PWM3or4 */ - /* Setup registers. */ - /* 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. */ -#if PWM1or2 - dir_b ^= pwm_dir_reverse_b; - PORTB = dir_b; -# ifdef PWM1 - PWM1_OCR = pwm1; -# endif -# ifdef PWM2 - PWM2_OCR = pwm2; -# endif -#endif /* PWM1or2 */ -#if PWM3or4 - dir_e ^= pwm_dir_reverse_e; - PORTE = dir_e; -# ifdef PWM3 - PWM3_OCR = pwm3; -# endif -# ifdef PWM4 - PWM4_OCR = pwm4; -# endif -#endif /* PWM3or4 */ + assert (pwm_left > -PWM_MAX && pwm_left < PWM_MAX); + assert (pwm_right > -PWM_MAX && pwm_right < PWM_MAX); + assert (pwm_aux0 > -PWM_MAX && pwm_aux0 < PWM_MAX); + pwm_mp_update (); + pwm_ocr_update (); } void pwm_set_reverse (uint8_t reverse) { pwm_reverse = reverse; - pwm_dir_reverse_b = 0; - pwm_dir_reverse_e = 0; -#ifdef PWM1 - if (reverse & PWM_REVERSE_BIT (PWM1)) - pwm_dir_reverse_b |= _BV (PWM1_DIR); -#endif -#ifdef PWM2 - if (reverse & PWM_REVERSE_BIT (PWM2)) - pwm_dir_reverse_b |= _BV (PWM2_DIR); -#endif -#ifdef PWM3 - if (reverse & PWM_REVERSE_BIT (PWM3)) - pwm_dir_reverse_e |= _BV (PWM3_DIR); -#endif -#ifdef PWM4 - if (reverse & PWM_REVERSE_BIT (PWM4)) - pwm_dir_reverse_e |= _BV (PWM4_DIR); -#endif + pwm_ocr_set_reverse (reverse); } diff --git a/digital/asserv/src/asserv/pwm.h b/digital/asserv/src/asserv/pwm.h index 36b2bb5a..3d738538 100644 --- a/digital/asserv/src/asserv/pwm.h +++ b/digital/asserv/src/asserv/pwm.h @@ -31,6 +31,12 @@ extern int16_t pwm_left, pwm_right, pwm_aux0; extern uint8_t pwm_reverse; +#define PWM_REVERSE_BIT(x) PWM_REVERSE_BIT_ (x) +#define PWM_REVERSE_BIT_(x) PWM_REVERSE_BIT_ ## x +#define PWM_REVERSE_BIT_pwm_left _BV (0) +#define PWM_REVERSE_BIT_pwm_right _BV (1) +#define PWM_REVERSE_BIT_pwm_aux0 _BV (2) + void pwm_init (void); diff --git a/digital/asserv/src/asserv/pwm_config.h b/digital/asserv/src/asserv/pwm_config.h new file mode 100644 index 00000000..48b99217 --- /dev/null +++ b/digital/asserv/src/asserv/pwm_config.h @@ -0,0 +1,52 @@ +#ifndef pwm_config_h +#define pwm_config_h +/* pwm_config.h - Helper for PWM configuration. */ +/* 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. + * + * }}} */ + +/* Simplify conditionnal compilation. */ +#define PWM1or2 (defined (PWM1) || defined (PWM2)) +#define PWM3or4 (defined (PWM3) || defined (PWM4)) +#ifdef PWM1 +# define PWM1c(x) x +#else +# define PWM1c(x) 0 +#endif +#ifdef PWM2 +# define PWM2c(x) x +#else +# define PWM2c(x) 0 +#endif +#ifdef PWM3 +# define PWM3c(x) x +#else +# define PWM3c(x) 0 +#endif +#ifdef PWM4 +# define PWM4c(x) x +#else +# define PWM4c(x) 0 +#endif + +#endif /* pwm_config_h */ 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 +} + diff --git a/digital/asserv/src/asserv/pwm_mp.avr.h b/digital/asserv/src/asserv/pwm_mp.avr.h new file mode 100644 index 00000000..cf30578f --- /dev/null +++ b/digital/asserv/src/asserv/pwm_mp.avr.h @@ -0,0 +1,34 @@ +#ifndef pwm_mp_avr_h +#define pwm_mp_avr_h +/* pwm_mp.avr.h */ +/* 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. + * + * }}} */ + +void +pwm_mp_init (void); + +void +pwm_mp_update (void); + +#endif /* pwm_mp_avr_h */ diff --git a/digital/asserv/src/asserv/pwm_ocr.avr.c b/digital/asserv/src/asserv/pwm_ocr.avr.c new file mode 100644 index 00000000..a5a21340 --- /dev/null +++ b/digital/asserv/src/asserv/pwm_ocr.avr.c @@ -0,0 +1,221 @@ +/* pwm_ocr.avr.c - PWM using internal generator. */ +/* 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_ocr.avr.h" +#include "pwm.h" + +#include "modules/utils/utils.h" +#include "io.h" + +/** Assign PWM outputs. */ +#undef PWM1 +#undef PWM2 +#define PWM3 pwm_aux0 +#undef PWM4 + +#define PWM1_OCR OCR1B +#define PWM1_OCR_BIT 6 +#define PWM1_DIR 4 +#define PWM2_OCR OCR1C +#define PWM2_OCR_BIT 7 +#define PWM2_DIR 5 +#define PWM3_OCR OCR3B +#define PWM3_OCR_BIT 4 +#define PWM3_DIR 2 +#define PWM4_OCR OCR3C +#define PWM4_OCR_BIT 5 +#define PWM4_DIR 3 + +#include "pwm_config.h" + +/** PWM reverse direction, port B. */ +static uint8_t pwm_ocr_dir_reverse_b; +/** PWM reverse direction, port E. */ +static uint8_t pwm_ocr_dir_reverse_e; + +/** Initialise PWM generator. */ +void +pwm_ocr_init (void) +{ + /* Fast PWM, TOP = 0x3ff, OCnB & OCnC with positive logic. + f_IO without prescaler. + Fpwm = f_IO / (prescaler * (1 + TOP)) = 14400 Hz. */ +#if PWM1or2 + TCCR1A = + regv (COM1A1, COM1A0, COM1B1, COM1B0, COM1C1, COM1C0, WGM11, WGM10, + 0, 0, 1, 0, 1, 0, 1, 1); + TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10, + 0, 0, 0, 0, 1, 0, 0, 1); + /* Enable pwm and direction outputs in DDRB. */ + DDRB |= PWM1c (_BV (PWM1_OCR_BIT) | _BV (PWM1_DIR)) + | PWM2c (_BV (PWM2_OCR_BIT) | _BV (PWM2_DIR)); +#endif +#if PWM3or4 + TCCR3A = + regv (COM3A1, COM3A0, COM3B1, COM3B0, COM3C1, COM3C0, WGM31, WGM30, + 0, 0, 1, 0, 1, 0, 1, 1); + TCCR3B = regv (ICNC3, ICES3, 5, WGM33, WGM32, CS32, CS31, CS30, + 0, 0, 0, 0, 1, 0, 0, 1); + /* Enable pwm and direction outputs in DDRE. */ + DDRE |= PWM3c (_BV (PWM3_OCR_BIT) | _BV (PWM3_DIR)) + | PWM4c (_BV (PWM4_OCR_BIT) | _BV (PWM4_DIR)); +#endif +} + +/** Update the hardware PWM values. */ +void +pwm_ocr_update (void) +{ +#if PWM1or2 + uint8_t dir_b; + /* Sample port B. */ + dir_b = PORTB & ~(PWM1c (_BV (PWM1_DIR)) | PWM2c (_BV (PWM2_DIR))); +# ifdef PWM1 + uint16_t pwm1; + /* Set PWM1. */ + if (PWM1 == 0) + { + pwm1 = 0; + } + else if (PWM1 < 0) + { + pwm1 = -PWM1; + } + else + { + dir_b |= _BV (PWM1_DIR); + pwm1 = PWM1; + } +# endif /* PWM1 */ +# ifdef PWM2 + uint16_t pwm2; + /* Set PWM2. */ + if (PWM2 == 0) + { + pwm2 = 0; + } + else if (PWM2 < 0) + { + pwm2 = -PWM2; + } + else + { + dir_b |= _BV (PWM2_DIR); + pwm2 = PWM2; + } +# endif /* PWM2 */ +#endif /* PWM1or2 */ +#if PWM3or4 + uint8_t dir_e; + /* Sample port E. */ + dir_e = PORTE & ~(PWM3c (_BV (PWM3_DIR)) | PWM4c (_BV (PWM4_DIR))); +# ifdef PWM3 + uint16_t pwm3; + /* Set PWM3. */ + if (PWM3 == 0) + { + pwm3 = 0; + } + else if (PWM3 < 0) + { + pwm3 = -PWM3; + } + else + { + dir_e |= _BV (PWM3_DIR); + pwm3 = PWM3; + } +# endif /* PWM3 */ +# ifdef PWM4 + uint16_t pwm4; + /* Set PWM4. */ + if (PWM4 == 0) + { + pwm4 = 0; + } + else if (PWM4 < 0) + { + pwm4 = -PWM4; + } + else + { + dir_e |= _BV (PWM4_DIR); + pwm4 = PWM4; + } +# endif /* PWM4 */ +#endif /* PWM3or4 */ + /* Setup registers. */ + /* 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. */ +#if PWM1or2 + dir_b ^= pwm_ocr_dir_reverse_b; + PORTB = dir_b; +# ifdef PWM1 + PWM1_OCR = pwm1; +# endif +# ifdef PWM2 + PWM2_OCR = pwm2; +# endif +#endif /* PWM1or2 */ +#if PWM3or4 + dir_e ^= pwm_ocr_dir_reverse_e; + PORTE = dir_e; +# ifdef PWM3 + PWM3_OCR = pwm3; +# endif +# ifdef PWM4 + PWM4_OCR = pwm4; +# endif +#endif /* PWM3or4 */ +} + +void +pwm_ocr_set_reverse (uint8_t reverse) +{ + pwm_reverse = reverse; + pwm_ocr_dir_reverse_b = 0; + pwm_ocr_dir_reverse_e = 0; +#ifdef PWM1 + if (reverse & PWM_REVERSE_BIT (PWM1)) + pwm_ocr_dir_reverse_b |= _BV (PWM1_DIR); +#endif +#ifdef PWM2 + if (reverse & PWM_REVERSE_BIT (PWM2)) + pwm_ocr_dir_reverse_b |= _BV (PWM2_DIR); +#endif +#ifdef PWM3 + if (reverse & PWM_REVERSE_BIT (PWM3)) + pwm_ocr_dir_reverse_e |= _BV (PWM3_DIR); +#endif +#ifdef PWM4 + if (reverse & PWM_REVERSE_BIT (PWM4)) + pwm_ocr_dir_reverse_e |= _BV (PWM4_DIR); +#endif +} + diff --git a/digital/asserv/src/asserv/pwm_ocr.avr.h b/digital/asserv/src/asserv/pwm_ocr.avr.h new file mode 100644 index 00000000..cd013824 --- /dev/null +++ b/digital/asserv/src/asserv/pwm_ocr.avr.h @@ -0,0 +1,37 @@ +#ifndef pwm_ocr_avr_h +#define pwm_ocr_avr_h +/* pwm_ocr.avr.h */ +/* 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. + * + * }}} */ + +void +pwm_ocr_init (void); + +void +pwm_ocr_update (void); + +void +pwm_ocr_set_reverse (uint8_t reverse); + +#endif /* pwm_ocr_avr_h */ -- cgit v1.2.3