#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 extern int16_t pwm_left, pwm_right, pwm_aux0; extern uint8_t pwm_reverse; /** 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 / 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 0x8 #define PWM_MIN_FOR_pwm_right 0x8 #define PWM_MIN_FOR_pwm_aux0 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) /** Set pwm value and saturate. */ #define PWM_SET(pwm, value) \ do { \ (pwm) = (value); \ UTILS_BOUND ((pwm), -PWM_MAX_FOR (pwm), PWM_MAX_FOR (pwm)); \ } while (0) void pwm_init (void); void pwm_update (void); void pwm_set_reverse (uint8_t reverse); #endif /* pwm_h */