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Diffstat (limited to 'digital/mimot/src/dirty/pwm.avr.c')
-rw-r--r--digital/mimot/src/dirty/pwm.avr.c57
1 files changed, 57 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/pwm.avr.c b/digital/mimot/src/dirty/pwm.avr.c
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+++ b/digital/mimot/src/dirty/pwm.avr.c
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+/* 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_ocr.avr.h"
+
+/** PWM control states. */
+struct pwm_t pwm_aux[AC_ASSERV_AUX_NB] = {
+ PWM_INIT_FOR (pwm_aux0), PWM_INIT_FOR (pwm_aux1)
+};
+/** PWM reverse directions. */
+uint8_t pwm_reverse;
+
+/** Initialise PWM generators. */
+void
+pwm_init (void)
+{
+ pwm_ocr_init ();
+}
+
+/** Update the hardware PWM values. */
+void
+pwm_update (void)
+{
+ pwm_ocr_update ();
+}
+
+/** Set which PWM is reversed. */
+void
+pwm_set_reverse (uint8_t reverse)
+{
+ pwm_reverse = reverse;
+ pwm_ocr_set_reverse (reverse);
+}
+