servos_4015_MAT_hw.h File Reference

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

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Macros
#define	SERVOS_TICS_OF_USEC(s)   cpu_ticks_of_usec(s)
#define	ClipServo(x, a, b)   Clip(x, a, b)
#define	_4015_NB_CHANNELS   8
#define	Actuator4015Set(_i, _v)   { servos_values[_i] = SERVOS_TICS_OF_USEC(_v); }
#define	Actuators4015Commit()   {}
#define	Actuators4015Init()   actuators_4015_init()
#define	SERVO_REFRESH_TICS   SERVOS_TICS_OF_USEC(20000)
#define	ACTUATORS_IT   TIR_MR1I
#define	Servos4015Mat_ISR()

Functions
void	actuators_4015_init (void)

Variables
uint16_t	servos_values [_4015_NB_CHANNELS]
uint8_t	servos_4015_idx
uint32_t	servos_delay

Macro Definition Documentation

_4015_NB_CHANNELS

#define _4015_NB_CHANNELS   8

Definition at line 41 of file servos_4015_MAT_hw.h.

Actuator4015Set

#define Actuator4015Set	(		_i,
			_v
	)		{ servos_values[_i] = SERVOS_TICS_OF_USEC(_v); }

Definition at line 43 of file servos_4015_MAT_hw.h.

Actuators4015Commit

#define Actuators4015Commit

(

)

{}

Definition at line 46 of file servos_4015_MAT_hw.h.

Actuators4015Init

#define Actuators4015Init

(

)

actuators_4015_init()

Definition at line 47 of file servos_4015_MAT_hw.h.

ACTUATORS_IT

#define ACTUATORS_IT   TIR_MR1I

Definition at line 53 of file servos_4015_MAT_hw.h.

ClipServo

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

Definition at line 39 of file servos_4015_MAT_hw.h.

SERVO_REFRESH_TICS

#define SERVO_REFRESH_TICS   SERVOS_TICS_OF_USEC(20000)

Definition at line 51 of file servos_4015_MAT_hw.h.

Servos4015Mat_ISR

#define Servos4015Mat_ISR

(

)

Value:

    {       \
    if (servos_4015_idx == 0) {       \
      servos_delay = SERVO_REFRESH_TICS;      \
      SetBit(IO1CLR, SERVO_DATA_PIN);     \
    }             \
    if (servos_4015_idx < _4015_NB_CHANNELS ) {   \
      T0MR1 += servos_values[servos_4015_idx];    \
      servos_delay -= servos_values[servos_4015_idx]; \
      servos_4015_idx++;          \
    } else if (servos_4015_idx == _4015_NB_CHANNELS) {  \
      SetBit(IO1SET, SERVO_RESET_PIN);      \
      servos_4015_idx++;          \
      T0MR1 += servos_delay/2;        \
    } else  {           \
      SetBit(IO1SET, SERVO_DATA_PIN);     \
      SetBit(IO1CLR, SERVO_RESET_PIN);      \
      servos_4015_idx = 0;        \
      T0MR1 += servos_delay/2;        \
    }             \
    /* lower clock pin */         \
    T0EMR &= ~TEMR_EM1;         \
  }

Definition at line 54 of file servos_4015_MAT_hw.h.

SERVOS_TICS_OF_USEC

#define SERVOS_TICS_OF_USEC

(

s

)

cpu_ticks_of_usec(s)

Definition at line 38 of file servos_4015_MAT_hw.h.

Function Documentation

actuators_4015_init()

void actuators_4015_init

(

void

)

Definition at line 46 of file servos_4015_hw.c.

References _4015_NB_CHANNELS, _VIC_ADDR, _VIC_CNTL, IO0DIR, IO1DIR, IO1SET, PINSEL2, PWM_ISR(), PWM_VIC_SLOT, PWMLER, PWMLER_LATCH0, PWMLER_LATCH_SERV0, PWMLER_LATCH_SERV1, PWMMCR, PWMMCR_MR0R, PWMMCR_MRI_SERV1, PWMMR0, PWMMR_SERV0, PWMMR_SERV1, PWMPCR, PWMPCR_ENA_SERV0, PWMPCR_ENA_SERV1, PWMPR, PWMTCR, PWMTCR_COUNTER_ENABLE, PWMTCR_PWM_ENABLE, SERVO_CLOCK_PIN, SERVO_CLOCK_PINSEL, SERVO_CLOCK_PINSEL_BIT, SERVO_CLOCK_PINSEL_VAL, SERVO_DATA_PIN, SERVO_REFRESH_TICS, SERVO_RESET_PIN, servos_4015_idx, servos_delay, SERVOS_TICS_OF_USEC, servos_values, START_TIMEOUT, T0EMR, T0MCR, T0MR1, TEMR_EM1, TEMR_EMC1_2, TMCR_MR1_I, VIC_BIT, VIC_ENABLE, VIC_PWM, VICIntEnable, and VICIntSelect.

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Variable Documentation

servos_4015_idx

uint8_t servos_4015_idx

Definition at line 32 of file servos_4015_MAT_hw.c.

Referenced by actuators_4015_init().

servos_delay

uint32_t servos_delay

Definition at line 33 of file servos_4015_MAT_hw.c.

servos_values

uint16_t servos_values[_4015_NB_CHANNELS]

Definition at line 29 of file servos_4015_hw.c.