aversive_10-03-12/modules/hardware/pwm_ng/pwm_ng.h

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/*  
 *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
 * 
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 *  Copyright Droids-corporation - Olivier MATZ - 2009
 */

#ifndef _PWM_NG_H_
#define _PWM_NG_H_

#include <aversive.h>
#include <aversive/timers.h>
#include <aversive/parts.h>

/*
 * PWM signs & sign ligne inversion.
 * The pwm mode is defined be the following flags:
 *
 * PWM_NG_MODE_NORMAL            : normal pwm, just to put a value if 
 *                                 nothing else is needed.
 * PWM_NG_MODE_REVERSE           : invert pwm output, not sign.
 * PWM_NG_MODE_SIGNED            : activate the sign output on another port
 * PWM_NG_MODE_SIGN_INVERTED     : invert sign output
 * PWM_NG_MODE_SPECIAL_SIGN_MODE : if defined, the pwm is always near 0 for
 *                                 low values, else negative low values are 
 *                                 near 100%
 */
#define PWM_NG_MODE_NORMAL                           0x00 
#define PWM_NG_MODE_REVERSE                          0x01
#define PWM_NG_MODE_SIGN_INVERTED                    0x02
#define PWM_NG_MODE_SIGNED                           0x04
#define PWM_NG_MODE_SPECIAL_SIGN                     0x08

/*
 * Timer modes.
 */
#define PWM_NG_TIMER_0_MODE

struct pwm_ng {
        uint8_t mode:4,
                type:1, /* timer 8 bits or 16 bits */
                nbits:2, /* 8, 9, or 10 bits pwm */
                reserved:1;
        union {
                volatile uint8_t *ocr8;
                volatile uint16_t *ocr16;
        } u;
        volatile uint8_t *sign_port;
        uint8_t sign_bit;
};

#define PWM_NG_TIMER_8BITS_INIT(n, t_mode, prsc)                        \
        do {                                                            \
                TCCR##n =  ( ((t_mode & 0x01) ? (1 << WGM##n##0):0)  |  \
                             ((t_mode & 0x02) ? (1 << WGM##n##1):0)  |  \
                             ((prsc << CS##n##0)) );                    \
        } while(0)

#define PWM_NG_TIMER_8BITS_INIT_B(n, t_mode, prsc)                      \
        do {                                                            \
                TCCR##n##A =  ( ((t_mode & 0x01) ? (1 << WGM##n##0):0)  | \
                                ((t_mode & 0x02) ? (1 << WGM##n##1):0)  | \
                                ((prsc << CS##n##0)) );                 \
                TCCR##n##B = (prsc << CS##n##0);                        \
        } while(0)

#define PWM_NG_TIMER_16BITS_INIT(n, t_mode, prsc) do {                  \
                TCCR##n##A &= ~((1 << WGM##n##0) | (1 << WGM##n##1));   \
                TCCR##n##A |= ((t_mode & 0x01) ? (1 << WGM##n##0):0) |  \
                        ((t_mode & 0x02) ? (1 << WGM##n##1):0);         \
                TCCR##n##B = ((t_mode & 0x04) ? (1 << WGM##n##2):0) |   \
                        ((t_mode & 0x08 ) ? (1 << WGM##n##3):0) |       \
                        (prsc << CS##n##0);                             \
        } while(0)


void pwm_ng_init(struct pwm_ng *pwm, uint8_t timer_nbits, 
                 uint8_t pwm_nbits, uint8_t pwm_mode, 
                 volatile void *ocrn, 
                 uint8_t com0, volatile uint8_t *tccrn,
                 volatile uint8_t *pwm_port, uint8_t pwm_bit,
                 volatile uint8_t *sign_port, uint8_t sign_bit);

#define PWM_NG_INIT8(pwm, n, pwm_nbits, pwm_mode, sign_port, sign_bit)  \
        do {                                                            \
                pwm_ng_init(pwm, 8, pwm_nbits, pwm_mode, &OCR##n,       \
                            COM##n##0, &TCCR##n, &OC##n##_PORT,         \
                            OC##n##_BIT, sign_port, sign_bit);          \
        } while(0)

#define PWM_NG_INIT8_B(pwm, n, m, pwm_nbits, pwm_mode, sign_port, sign_bit) \
        do {                                                            \
                pwm_ng_init(pwm, 8, pwm_nbits, pwm_mode, &OCR##n##m,    \
                            COM##n##m##0, &TCCR##n##A, &OC##n##m##_PORT, \
                            OC##n##m##_BIT, sign_port, sign_bit);       \
        } while(0)

#define PWM_NG_INIT16(pwm, n, m, pwm_nbits, pwm_mode, sign_port, sign_bit) \
        do {                                                            \
                pwm_ng_init(pwm, 16, pwm_nbits, pwm_mode, &OCR##n##m,   \
                            COM##n##m##0, &TCCR##n##A,                  \
                            &OC##n##m##_PORT, OC##n##m##_BIT,           \
                            sign_port, sign_bit);                       \
        } while(0)

void pwm_ng_set(void *pwm, int32_t value); 

#endif // _PWM_H_

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