common/common.h

   1 #ifndef _COMMON_H_
   2 #define _COMMON_H_
   3
   4 #include <stdint.h>
   5 #include <stdio.h>
   6
   7 #include "clock.h"
   8
   9 #define DDR(x)  _DDR(x)
  10 #define _DDR(x) DDR##x
  11 #define PORT(x) _PORT(x)
  12 #define _PORT(x) PORT##x
  13 #define PIN(x)  _PIN(x)
  14 #define _PIN(x) PIN##x
  15
  16 #define CT(x) (sizeof(x)/sizeof(*x))
  17
  18 inline uint8_t mod( uint8_t i1, uint8_t i2) {// i1%i2
  19      while( i1 >= i2 ) {
  20           i1 = (uint8_t) (i1 - i2);
  21      }
  22      return i1;
  23 }
  24
  25 inline void memset_16(uint16_t * dest, uint16_t val, uint8_t len) {
  26      do {
  27                 len--;
  28                 dest[len] = val;
  29         } while (len!=0);
  30 }
  31
  32 inline void print_bin(uint8_t inp, FILE * stream) {
  33         for(int8_t j=7; j>=0; --j) {
  34                 fputc(((inp&(1<<j))>>j)+'0',stream);
  35         }
  36 }
  37
  38
  39 /* wip data structures
  40
  41 typedef union uint24 {
  42         struct {
  43                 uint16_t msb16;
  44                 uint8_t  lsb8;
  45         }
  46         struct {
  47                 uint8_t msb8;
  48                 uint16_t lsb16;
  49         }
  50         struct {
  51                 uint8_t a,b,c;
  52         }
  53         uint8_t n[3];
  54 } uint24_t;
  55
  56
  57 typedef struct motor_st {
  58         volatile uint8_t * pwm_reg;
  59         volatile uint8_t * pwm_port;
  60         //volatile uint8_t * pwm_ddr; //pwm_port+1
  61         //volatile uint8_t * pwm_pin; //pwm_port+2
  62         uint8_t pwm_index;
  63
  64         uint8_t in1_index;
  65         volatile uint8_t * in1_port;
  66
  67         uint8_t in2_index;
  68         volatile uint8_t * in2_port;
  69 } motor_t;
  70 */
  71 #endif