aversive_10-03-12/modules/devices/servo/multiservo/multiservo.c File Reference

#include <string.h>
#include <aversive.h>
#include <aversive/error.h>
#include <multiservo.h>
#include <multiservo_archs.h>

Go to the source code of this file.

Defines
#define	MULTISERVO_DEBUG(args...)   do { } while(0)
#define	TIME_1MS   (CONFIG_QUARTZ/((1000UL)*MULTISERVO_TIMER_PRESCALER))
#define	TIME_1_5MS   ((TIME_1MS*3)/2)
Functions
	SIGNAL (MULTISERVO_SIG_OUTPUT_COMPARE)
void	multiservo_init (void)
int8_t	multiservo_add (volatile uint8_t *port, uint8_t bitnum)
void	multiservo_del (int8_t id)
void	multiservo_set (int8_t id, uint16_t val_us)
Variables
struct multiservo	g_multiservo

---

Define Documentation

#define MULTISERVO_DEBUG

(

args...

)

do { } while(0)

Definition at line 36 of file multiservo.c.

Referenced by SIGNAL().

#define TIME_1_5MS   ((TIME_1MS*3)/2)

Definition at line 41 of file multiservo.c.

Referenced by multiservo_add().

#define TIME_1MS   (CONFIG_QUARTZ/((1000UL)*MULTISERVO_TIMER_PRESCALER))

Definition at line 40 of file multiservo.c.

Referenced by multiservo_init(), multiservo_set(), and SIGNAL().

---

Function Documentation

int8_t multiservo_add	(	volatile uint8_t *	port,
		uint8_t	bitnum
	)

Definition at line 127 of file multiservo.c.

References multiservo_element::bitnum, DDR, multiservo::elts, g_multiservo, i, IRQ_LOCK, IRQ_UNLOCK, multiservo_element::port, sbi, TIME_1_5MS, and multiservo_element::value.

void multiservo_del

(

int8_t

id

)

Definition at line 155 of file multiservo.c.

References multiservo_element::bitnum, cbi, DDR, multiservo::elts, g_multiservo, IRQ_LOCK, IRQ_UNLOCK, and multiservo_element::port.

void multiservo_init

(

void

)

Definition at line 104 of file multiservo.c.

References cbi, g_multiservo, multiservo::id_prev, IRQ_LOCK, IRQ_UNLOCK, sbi, and TIME_1MS.

void multiservo_set	(	int8_t	id,
		uint16_t	val_us
	)

Set multiservo angle. Specify value in us. WARNING : should be (much) bigger than 0

Definition at line 170 of file multiservo.c.

References multiservo::elts, g_multiservo, IRQ_LOCK, IRQ_UNLOCK, TIME_1MS, and multiservo_element::value.

SIGNAL

(

MULTISERVO_SIG_OUTPUT_COMPARE

)

Definition at line 55 of file multiservo.c.

References multiservo_element::bitnum, cbi, multiservo::current_multiservo, E_MULTISERVO, multiservo::elts, g_multiservo, multiservo::id_prev, MULTISERVO_DEBUG, multiservo_element::port, sbi, TIME_1MS, multiservo::time_sum, and multiservo_element::value.

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Variable Documentation

struct multiservo g_multiservo

Definition at line 29 of file multiservo.c.

Referenced by multiservo_add(), multiservo_del(), multiservo_init(), multiservo_set(), and SIGNAL().