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Diffstat (limited to 'AT91SAM7S256/Source/d_output.r')
-rw-r--r--AT91SAM7S256/Source/d_output.r76
1 files changed, 38 insertions, 38 deletions
diff --git a/AT91SAM7S256/Source/d_output.r b/AT91SAM7S256/Source/d_output.r
index a856920..1a30c5f 100644
--- a/AT91SAM7S256/Source/d_output.r
+++ b/AT91SAM7S256/Source/d_output.r
@@ -91,11 +91,11 @@ static TACHOPARAMETERS MotorTachoValue[3];
*AT91C_PIOA_PER = MOTOR_A_DIR; /* Enable PIO on PA1 */\
*AT91C_PIOA_ODR = MOTOR_A_DIR; /* PA1 set to input */\
*AT91C_PIOA_IFER = MOTOR_A_INT | MOTOR_A_DIR; /* Enable filter on PA15 & PA1 */\
- *AT91C_PMC_PCER = TIMER_1_ID13; /* Enable clock for TC1*/\
- *AT91C_TCB_BMR = AT91C_TCB_TC1XC1S_NONE; /* No external clock signal XC2 */\
- *AT91C_TCB_BCR = 0x0; /* Clear SYNC */\
- *AT91C_TC1_CMR = *AT91C_TC1_CMR & 0X00000000; /* Clear all bits in TC1_CMR */\
- *AT91C_TC1_CMR = *AT91C_TC1_CMR & 0xFFFF7FFF; /* Enable capture mode */\
+ *AT91C_PMC_PCER = TIMER_1_ID13; /* Enable clock for TC1*/\
+ *AT91C_TCB_BMR = AT91C_TCB_TC1XC1S_NONE; /* No external clock signal XC2 */\
+ *AT91C_TCB_BCR = 0x0; /* Clear SYNC */\
+ *AT91C_TC1_CMR = *AT91C_TC1_CMR & 0X00000000; /* Clear all bits in TC1_CMR */\
+ *AT91C_TC1_CMR = *AT91C_TC1_CMR & 0xFFFF7FFF; /* Enable capture mode */\
*AT91C_TC1_CMR = *AT91C_TC1_CMR | AT91C_TC_CLKS_TIMER_DIV5_CLOCK; /* Set clock for timer to Clock5 = div 1024*/\
*AT91C_TC1_CMR = *AT91C_TC1_CMR | AT91C_TC_ABETRG; /* Use external trigger for TIO1*/\
*AT91C_TC1_CMR = *AT91C_TC1_CMR | AT91C_TC_EEVTEDG_BOTH; /* Trigger on both edges */\
@@ -118,14 +118,14 @@ static TACHOPARAMETERS MotorTachoValue[3];
*AT91C_PIOA_PPUDR = MOTOR_B_INT | MOTOR_B_DIR; /* Disable Pull Up resistor on PA26 & PA09 */\
*AT91C_PIOA_ODR = MOTOR_B_DIR; /* PA09 set to input */\
*AT91C_PIOA_IFER = MOTOR_B_INT | MOTOR_B_DIR; /* Enable filter on PA26 & PA09 */\
- *AT91C_PMC_PCER = TIMER_2_ID14; /* Enable clock for TC2*/\
- *AT91C_TCB_BMR = AT91C_TCB_TC2XC2S_NONE; /* No external clock signal */\
- *AT91C_TCB_BCR = 0x0; /* Clear SYNC */\
- *AT91C_TC2_CMR = *AT91C_TC2_CMR & 0X00000000; /* Clear all bits in TC1_CMR */\
- *AT91C_TC2_CMR = *AT91C_TC2_CMR & 0xFFFF7FFF; /* Enable capture mode */\
- *AT91C_TC2_CMR = *AT91C_TC2_CMR | AT91C_TC_CLKS_TIMER_DIV5_CLOCK; /* Set clock for timer to Clock5 = div 1024*/\
+ *AT91C_PMC_PCER = TIMER_2_ID14; /* Enable clock for TC2*/\
+ *AT91C_TCB_BMR = AT91C_TCB_TC2XC2S_NONE; /* No external clock signal */\
+ *AT91C_TCB_BCR = 0x0; /* Clear SYNC */\
+ *AT91C_TC2_CMR = *AT91C_TC2_CMR & 0X00000000; /* Clear all bits in TC1_CMR */\
+ *AT91C_TC2_CMR = *AT91C_TC2_CMR & 0xFFFF7FFF; /* Enable capture mode */\
+ *AT91C_TC2_CMR = *AT91C_TC2_CMR | AT91C_TC_CLKS_TIMER_DIV5_CLOCK; /* Set clock for timer to Clock5 = div 1024*/\
*AT91C_TC2_CMR = *AT91C_TC2_CMR | AT91C_TC_ABETRG; /* Use external trigger for TIO2*/\
- *AT91C_TC2_CMR = *AT91C_TC2_CMR | AT91C_TC_EEVTEDG_BOTH; /* Trigger on both edges */\
+ *AT91C_TC2_CMR = *AT91C_TC2_CMR | AT91C_TC_EEVTEDG_BOTH; /* Trigger on both edges */\
*AT91C_TC2_CMR = *AT91C_TC2_CMR | AT91C_TC_LDRA_RISING; /* RA loading register set */\
*AT91C_AIC_IDCR = TIMER_2_ID14; /* Irq controller setup */\
AT91C_AIC_SVR[14] = (unsigned int)CaptureBInt; \
@@ -145,13 +145,13 @@ static TACHOPARAMETERS MotorTachoValue[3];
*AT91C_PIOA_PPUDR = MOTOR_C_INT | MOTOR_C_DIR; /* Disable Pull Up resistor on PA0 & PA08 */\
*AT91C_PIOA_ODR = MOTOR_C_DIR; /* PA08 set to input */\
*AT91C_PIOA_IFER = MOTOR_C_INT | MOTOR_C_DIR; /* Enable filter on PA26 & PA09 */\
- *AT91C_PMC_PCER = TIMER_0_ID12; /* Enable clock for TC0*/\
- *AT91C_TCB_BMR = AT91C_TCB_TC0XC0S_NONE; /* No external clock signal */\
- *AT91C_TC0_CMR = *AT91C_TC0_CMR & 0X00000000; /* Clear all bits in TC0_CMR */\
- *AT91C_TC0_CMR = *AT91C_TC0_CMR & 0xFFFF7FFF; /* Enable capture mode */\
- *AT91C_TC0_CMR = *AT91C_TC0_CMR | AT91C_TC_CLKS_TIMER_DIV5_CLOCK; /* Set clock for timer to Clock5 = div 1024*/\
- *AT91C_TC0_CMR = *AT91C_TC0_CMR | AT91C_TC_ABETRG; /* Use external trigger for TI0*/\
- *AT91C_TC0_CMR = *AT91C_TC0_CMR | AT91C_TC_EEVTEDG_BOTH; /* Trigger on both edges */\
+ *AT91C_PMC_PCER = TIMER_0_ID12; /* Enable clock for TC0*/\
+ *AT91C_TCB_BMR = AT91C_TCB_TC0XC0S_NONE; /* No external clock signal */\
+ *AT91C_TC0_CMR = *AT91C_TC0_CMR & 0X00000000; /* Clear all bits in TC0_CMR */\
+ *AT91C_TC0_CMR = *AT91C_TC0_CMR & 0xFFFF7FFF; /* Enable capture mode */\
+ *AT91C_TC0_CMR = *AT91C_TC0_CMR | AT91C_TC_CLKS_TIMER_DIV5_CLOCK; /* Set clock for timer to Clock5 = div 1024*/\
+ *AT91C_TC0_CMR = *AT91C_TC0_CMR | AT91C_TC_ABETRG; /* Use external trigger for TI0*/\
+ *AT91C_TC0_CMR = *AT91C_TC0_CMR | AT91C_TC_EEVTEDG_BOTH; /* Trigger on both edges */\
*AT91C_TC0_CMR = *AT91C_TC0_CMR | AT91C_TC_LDRA_RISING; /* RA loading register set */\
*AT91C_AIC_IDCR = TIMER_0_ID12; /* Disable interrupt */\
AT91C_AIC_SVR[12] = (unsigned int)CaptureCInt; \
@@ -270,29 +270,29 @@ __ramfunc void CaptureCInt(void)
}
}
-#define OUTPUTExit {\
- *AT91C_AIC_IDCR = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Disable interrupts for the timers */\
- *AT91C_AIC_ICCR = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Clear penting interrupt register for timers*/\
- *AT91C_PMC_PCDR = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Disable the clock for each of the timers*/\
- *AT91C_PIOA_PER = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Enable PIO on PA15, PA11, PA26, PA09, PA27 & PA08 */\
- *AT91C_PIOA_ODR = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Set to input PA15, PA11, PA26, PA09, PA27 & PA08 */\
- *AT91C_PIOA_PPUDR = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Enable Pullup on PA15, PA11, PA26, PA09, PA27 & PA08 */\
- }
+#define OUTPUTExit {\
+ *AT91C_AIC_IDCR = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Disable interrupts for the timers */\
+ *AT91C_AIC_ICCR = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Clear penting interrupt register for timers*/\
+ *AT91C_PMC_PCDR = TIMER_0_ID12 | TIMER_1_ID13 | TIMER_2_ID14; /* Disable the clock for each of the timers*/\
+ *AT91C_PIOA_PER = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Enable PIO on PA15, PA11, PA26, PA09, PA27 & PA08 */\
+ *AT91C_PIOA_ODR = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Set to input PA15, PA11, PA26, PA09, PA27 & PA08 */\
+ *AT91C_PIOA_PPUDR = MOTOR_A_DIR | MOTOR_A_INT | MOTOR_B_DIR | MOTOR_B_INT | MOTOR_C_DIR | MOTOR_C_INT; /* Enable Pullup on PA15, PA11, PA26, PA09, PA27 & PA08 */\
+ }
-#define TACHOCountReset(MotorNr) {\
- MotorTachoValue[MotorNr].TachoCountTable = 0;\
- MotorTachoValue[MotorNr].TachoCountTableOld = 0;\
- }
+#define TACHOCountReset(MotorNr) {\
+ MotorTachoValue[MotorNr].TachoCountTable = 0;\
+ MotorTachoValue[MotorNr].TachoCountTableOld = 0;\
+ }
#define TACHOCaptureReadResetAll(MotorDataA,MotorDataB,MotorDataC){\
- MotorDataA = (MotorTachoValue[MOTOR_A].TachoCountTable - MotorTachoValue[MOTOR_A].TachoCountTableOld);\
- MotorTachoValue[MOTOR_A].TachoCountTableOld = MotorTachoValue[MOTOR_A].TachoCountTable;\
- MotorDataB = (MotorTachoValue[MOTOR_B].TachoCountTable - MotorTachoValue[MOTOR_B].TachoCountTableOld);\
- MotorTachoValue[MOTOR_B].TachoCountTableOld = MotorTachoValue[MOTOR_B].TachoCountTable;\
- MotorDataC = (MotorTachoValue[MOTOR_C].TachoCountTable - MotorTachoValue[MOTOR_C].TachoCountTableOld);\
- MotorTachoValue[MOTOR_C].TachoCountTableOld = MotorTachoValue[MOTOR_C].TachoCountTable;\
- }
+ MotorDataA = (MotorTachoValue[MOTOR_A].TachoCountTable - MotorTachoValue[MOTOR_A].TachoCountTableOld);\
+ MotorTachoValue[MOTOR_A].TachoCountTableOld = MotorTachoValue[MOTOR_A].TachoCountTable;\
+ MotorDataB = (MotorTachoValue[MOTOR_B].TachoCountTable - MotorTachoValue[MOTOR_B].TachoCountTableOld);\
+ MotorTachoValue[MOTOR_B].TachoCountTableOld = MotorTachoValue[MOTOR_B].TachoCountTable;\
+ MotorDataC = (MotorTachoValue[MOTOR_C].TachoCountTable - MotorTachoValue[MOTOR_C].TachoCountTableOld);\
+ MotorTachoValue[MOTOR_C].TachoCountTableOld = MotorTachoValue[MOTOR_C].TachoCountTable;\
+ }