/* output.c */ /* motor - Motor control module. {{{ * * Copyright (C) 2011 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 "output.h" #ifdef HOST # include "output_host.h" # define OUTPUT_MODULES ,host #else # if AC_OUTPUT_USE_PWM_OCR # include "pwm_ocr/output_pwm_ocr.h" # define OUTPUT_MODULE_1 ,pwm_ocr # else # define OUTPUT_MODULE_1 # endif # if AC_OUTPUT_USE_PWM_MP # include "pwm_mp/output_pwm_mp.h" # define OUTPUT_MODULE_2 ,pwm_mp # else # define OUTPUT_MODULE_2 # endif # define OUTPUT_MODULES \ OUTPUT_MODULE_1 OUTPUT_MODULE_2 #endif void output_init (uint8_t index, output_t *output) { /* Initialize corresponding module. */ #ifdef HOST output_host_init (index, output); #else # define output_init__(module, module_index) \ PREPROC_PASTE (output_, module, _init) (module_index, output) # define output_init_(index, output_info) \ case index: output_init__ output_info; break; switch (index) { PREPROC_FOR_ENUM (output_init_, AC_OUTPUT_LIST) } #endif } void output_set (output_t *output, int16_t value) { /* Reverse output if requested. */ if (output->reverse) value = -value; /* Saturation and dead zone. */ if (value > output->max) output->cur = output->max; else if (value < -output->max) output->cur = -output->max; else if (value > -output->min && value < output->min) output->cur = 0; else output->cur = value; } void output_update (void) { /* Update each module. */ #define output_update_(module) PREPROC_PASTE (output_, module, _update) (); PREPROC_FOR (output_update_ OUTPUT_MODULES) }