servos_4015_hw.h File Reference

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

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Macros
#define	PWM_TICS_OF_USEC(us)   (uint32_t)((us) *1e-6 * PCLK / PWM_PRESCALER + 0.5)
#define	SERVOS_TICS_OF_USEC(s)   PWM_TICS_OF_USEC(s)
#define	ChopServo(x, a, b)   Chop(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()

Functions
void	actuators_4015_init (void)
void	PWM_ISR (void)

Variables
uint16_t	servos_values [_4015_NB_CHANNELS]

Macro Definition Documentation

#define _4015_NB_CHANNELS   8

Definition at line 36 of file servos_4015_hw.h.

Referenced by actuators_4015_init(), and PWM_ISR().

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

Definition at line 38 of file servos_4015_hw.h.

#define Actuators4015Commit

(

)

{}

Definition at line 41 of file servos_4015_hw.h.

#define Actuators4015Init

(

)

actuators_4015_init()

Definition at line 42 of file servos_4015_hw.h.

#define ChopServo	(		x,
			a,
			b
	)		Chop(x, a, b)

Definition at line 34 of file servos_4015_hw.h.

#define PWM_TICS_OF_USEC

(

us

)

(uint32_t)((us) *1e-6 * PCLK / PWM_PRESCALER + 0.5)

Definition at line 31 of file servos_4015_hw.h.

#define SERVOS_TICS_OF_USEC

(

s

)

PWM_TICS_OF_USEC(s)

Definition at line 33 of file servos_4015_hw.h.

Function Documentation

void actuators_4015_init

(

void

)

Definition at line 46 of file servos_4015_hw.c.

void PWM_ISR

(

void

)

Definition at line 104 of file servos_4015_hw.c.

References _4015_NB_CHANNELS, IO1CLR, IO1SET, ISR_ENTRY, ISR_EXIT, PWMIR, PWMIR_MRI_SERV0, PWMIR_MRI_SERV1, PWMLER, PWMLER_LATCH0, PWMLER_LATCH_SERV0, PWMLER_LATCH_SERV1, PWMMCR, PWMMCR_MR0R, PWMMCR_MRI_SERV0, PWMMCR_MRI_SERV1, PWMMR0, PWMMR_SERV0, PWMMR_SERV1, SERVO_REFRESH_TICS, servos_delay, servos_idx, servos_values, and VICVectAddr.

Referenced by actuators_4015_init().

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Variable Documentation

uint16_t servos_values[_4015_NB_CHANNELS]

Definition at line 29 of file servos_4015_hw.c.