/* pwm.avr.c - Handle all PWM generators. */ /* asserv - Position & speed motor control on AVR. {{{ * * Copyright (C) 2005 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.h" #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; /** Initialise PWM generators. */ void pwm_init (void) { pwm_mp_init (); pwm_ocr_init (); } /** Update the hardware PWM values. */ void pwm_update (void) { /* Some assumption checks. */ 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_ocr_set_reverse (reverse); }