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Diffstat (limited to 'digital/mimot/src/dirty/pwm.h')
-rw-r--r--digital/mimot/src/dirty/pwm.h98
1 files changed, 98 insertions, 0 deletions
diff --git a/digital/mimot/src/dirty/pwm.h b/digital/mimot/src/dirty/pwm.h
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+#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. */
+#define PWM_MAX 0x3ff
+
+/** 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_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_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_aux0 PWM_MAX
+#define PWM_MAX_FOR_pwm_aux1 PWM_MAX
+
+/** 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_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_aux0 _BV (0)
+#define PWM_REVERSE_BIT_pwm_aux1 _BV (1)
+
+/** 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 */