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Diffstat (limited to 'digital/asserv/src/asserv/pwm.h')
-rw-r--r--digital/asserv/src/asserv/pwm.h108
1 files changed, 0 insertions, 108 deletions
diff --git a/digital/asserv/src/asserv/pwm.h b/digital/asserv/src/asserv/pwm.h
deleted file mode 100644
index 1d09bde7..00000000
--- a/digital/asserv/src/asserv/pwm.h
+++ /dev/null
@@ -1,108 +0,0 @@
-#ifndef pwm_h
-#define pwm_h
-/* pwm.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.
- *
- * }}} */
-
-/** Define the absolute maximum PWM value.
- * This value is lowered until the bug relatives to maximum value is fixed
- * (rounding after shifting bug). */
-#define PWM_MAX 0x3f0
-
-/** PWM control state. */
-struct pwm_t
-{
- /** Current PWM value. */
- int16_t cur;
- /** Maximum value. */
- int16_t max;
- /** Minimum value (dead zone). */
- int16_t min;
-};
-
-extern struct pwm_t pwm_left, pwm_right, pwm_aux[AC_ASSERV_AUX_NB];
-
-extern uint8_t pwm_reverse;
-
-/** Define current PWM value for each output. */
-#define PWM_VALUE(x) PWM_VALUE_ (x)
-#define PWM_VALUE_(x) PWM_VALUE_ ## x
-#define PWM_VALUE_pwm_left pwm_left.cur
-#define PWM_VALUE_pwm_right pwm_right.cur
-#define PWM_VALUE_pwm_aux0 pwm_aux[0].cur
-#define PWM_VALUE_pwm_aux1 pwm_aux[1].cur
-
-/** Define maximum PWM value for each output. */
-#define PWM_MAX_FOR(x) PWM_MAX_FOR_ (x)
-#define PWM_MAX_FOR_(x) PWM_MAX_FOR_ ## x
-#define PWM_MAX_FOR_pwm_left PWM_MAX
-#define PWM_MAX_FOR_pwm_right PWM_MAX
-#define PWM_MAX_FOR_pwm_aux0 PWM_MAX
-#define PWM_MAX_FOR_pwm_aux1 (PWM_MAX / 2)
-
-/** Define minimum PWM value for each output, if the value is less than the
- * minimum, use 0. */
-#define PWM_MIN_FOR(x) PWM_MIN_FOR_ (x)
-#define PWM_MIN_FOR_(x) PWM_MIN_FOR_ ## x
-#define PWM_MIN_FOR_pwm_left 0x10
-#define PWM_MIN_FOR_pwm_right 0x10
-#define PWM_MIN_FOR_pwm_aux0 0x10
-#define PWM_MIN_FOR_pwm_aux1 0x10
-
-/** Define which bit controls the PWM inversion. */
-#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 PWM_REVERSE_BIT_pwm_aux1 _BV (3)
-
-/** State init macro. */
-#define PWM_INIT_FOR(x) \
- { 0, PWM_MAX_FOR (x), PWM_MIN_FOR (x) }
-
-/** Set PWM value. */
-static inline void
-pwm_set (struct pwm_t *pwm, int16_t value)
-{
- if (value > pwm->max)
- pwm->cur = pwm->max;
- else if (value < -pwm->max)
- pwm->cur = -pwm->max;
- else if (value > -pwm->min && value < pwm->min)
- pwm->cur = 0;
- else
- pwm->cur = value;
-}
-
-void
-pwm_init (void);
-
-void
-pwm_update (void);
-
-void
-pwm_set_reverse (uint8_t reverse);
-
-#endif /* pwm_h */