lline/motor.h

   1 #ifndef _MOTOR_H_
   2 #define _MOTOR_H_
   3
   4 #include <stdint.h>
   5
   6 // Types
   7 #define MOTOR_SPEED_MAX 0x3FF
   8 typedef int16_t  motor_speed_t;  //only 11 bits used, 10+sign
   9 typedef uint16_t motor_uspeed_t;
  10
  11 struct pin_s {
  12   volatile uint8_t * const port;
  13   const uint8_t mask;
  14 };
  15
  16 typedef struct motor_s {
  17         volatile uint8_t * const reg_pwm;
  18         volatile uint8_t * const reg_pwmh;
  19         const struct pin_s pin[2];
  20 } motor_t;
  21
  22 // Motor structure constructor
  23 #define MOTOR_DEF(reg, port1, index1, port2, index2) \
  24         { \
  25                 .reg_pwm = &reg, \
  26                 .reg_pwmh= &TC1H, \
  27                 .pin[0].port = &port1, \
  28                 .pin[1].port = &port2, \
  29                 .pin[0].mask = (uint8_t) ( 1 << (index1) ), \
  30                 .pin[1].mask = (uint8_t) ( 1 << (index2) ) \
  31 }
  32
  33 // Functions
  34 void motor_init(void);
  35
  36 void motor_set(motor_t *motor, motor_speed_t value);
  37 motor_speed_t motor_get(motor_t *motor);
  38
  39 #endif