/* * The contents of this file are subject to the Mozilla Public License * Version 1.0 (the "License"); you may not use this file except in * compliance with the License. You may obtain a copy of the License at * http://www.mozilla.org/MPL/ * * Software distributed under the License is distributed on an "AS IS" * basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the * License for the specific language governing rights and limitations * under the License. * * The Original Code is legOS code, released October 17, 1999. * * The Initial Developer of the Original Code is Markus L. Noga. * Portions created by Markus L. Noga are Copyright (C) 1999 * Markus L. Noga. All Rights Reserved. * * Contributor(s): Markus L. Noga <markus@noga.de> */ #ifndef __dmotor_h__ #define __dmotor_h__ #include <config.h> #ifdef CONF_DMOTOR // // Definitions // typedef enum { off = 0, fwd = 1, rev = 2, brake = 3 } MotorDirection; typedef struct { union { unsigned assembler; struct { unsigned char delta; volatile unsigned char sum; } c; } access; unsigned char dir; } MotorState; #define MIN_SPEED 0 #define MAX_SPEED 255 // // Variables // /*! to be indexed with MotorDirections \sa MotorDirections */ extern const unsigned char dm_a_pattern[4], dm_b_pattern[4], dm_c_pattern[4]; extern MotorState dm_a, dm_b, dm_c; // // Functions // /*! \param dir the direction */ extern const inline void motor_a_dir(MotorDirection dir) { dm_a.dir = dm_a_pattern[dir]; } extern const inline void motor_b_dir(MotorDirection dir) { dm_b.dir = dm_b_pattern[dir]; } extern const inline void motor_c_dir(MotorDirection dir) { dm_c.dir = dm_c_pattern[dir]; } extern const inline void motor_a_speed(unsigned char speed) { dm_a.access.c.delta = speed; } extern const inline void motor_b_speed(unsigned char speed) { dm_b.access.c.delta = speed; } extern const inline void motor_c_speed(unsigned char speed) { dm_c.access.c.delta = speed; } #endif // CONF_DMOTOR #endif // __dmotor_h__