servos_4017_hw.h File Reference

#include <inttypes.h>
#include "std.h"
#include "LPC21xx.h"
#include "mcu_periph/sys_time.h"
#include <BOARD_CONFIG>

Include dependency graph for servos_4017_hw.h:

Go to the source code of this file.

Macros
#define	SERVOS_TICS_OF_USEC(s)   cpu_ticks_of_usec(s)
#define	ClipServo(x, a, b)   Clip(x, a, b)
#define	_4017_NB_CHANNELS   10
#define	Actuator4017Set(_i, _v)   { servos_values[_i] = SERVOS_TICS_OF_USEC(_v); }
#define	Actuators4017Commit()   {}
#define	Actuators4017Init()   actuators_4017_init()
#define	ACTUATORS_IT   TIR_MR1I
#define	SERVOS_4017_ISR()

Functions
void	actuators_4017_init (void)

Variables
uint16_t	servos_values [_4017_NB_CHANNELS]
uint8_t	servos_4017_idx

Macro Definition Documentation

_4017_NB_CHANNELS

#define _4017_NB_CHANNELS   10

Definition at line 40 of file servos_4017_hw.h.

Actuator4017Set

#define Actuator4017Set	(		_i,
			_v
	)		{ servos_values[_i] = SERVOS_TICS_OF_USEC(_v); }

Definition at line 44 of file servos_4017_hw.h.

Actuators4017Commit

#define Actuators4017Commit

(

)

{}

Definition at line 47 of file servos_4017_hw.h.

Actuators4017Init

#define Actuators4017Init

(

)

actuators_4017_init()

Definition at line 48 of file servos_4017_hw.h.

ACTUATORS_IT

#define ACTUATORS_IT   TIR_MR1I

Definition at line 52 of file servos_4017_hw.h.

ClipServo

#define ClipServo	(		x,
			a,
			b
	)		Clip(x, a, b)

Definition at line 35 of file servos_4017_hw.h.

SERVOS_4017_ISR

#define SERVOS_4017_ISR

(

)

Value:

    {         \
    if (servos_4017_idx >= _4017_NB_CHANNELS) {     \
      SetBit(IO1SET, SERVO_RESET_PIN);        \
      servos_4017_idx = 0;          \
      SetBit(IO1CLR, SERVO_RESET_PIN);        \
    }               \
    \
    /* request clock high on next match */      \
    T0MR1 += servos_values[servos_4017_idx];      \
    /* lower clock pin */         \
    T0EMR &= ~TEMR_EM1;           \
    servos_4017_idx++;            \
  }

Definition at line 55 of file servos_4017_hw.h.

SERVOS_TICS_OF_USEC

#define SERVOS_TICS_OF_USEC

(

s

)

cpu_ticks_of_usec(s)

Definition at line 34 of file servos_4017_hw.h.

Function Documentation

actuators_4017_init()

void actuators_4017_init

(

void

)

Definition at line 31 of file servos_4017_hw.c.

References _4017_NB_CHANNELS, IO0DIR, IO1DIR, IO1SET, PINSEL2, SERVO_CLOCK_PIN, SERVO_CLOCK_PINSEL, SERVO_CLOCK_PINSEL_BIT, SERVO_CLOCK_PINSEL_VAL, SERVO_RESET_PIN, servos_4017_idx, SERVOS_TICS_OF_USEC, servos_values, START_TIMEOUT, T0EMR, T0MCR, T0MR1, TEMR_EM1, TEMR_EMC1_1, TEMR_EMC1_2, and TMCR_MR1_I.

Variable Documentation

servos_4017_idx

uint8_t servos_4017_idx

Definition at line 27 of file servos_4017_hw.c.

Referenced by actuators_4017_init().

servos_values

uint16_t servos_values[_4017_NB_CHANNELS]

Definition at line 29 of file servos_4015_hw.c.