dmotor.h

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/*
 *  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__

#ifdef  __cplusplus
extern "C" {
#endif

#include <config.h>

#ifdef CONF_DMOTOR

//
// Definitions
//

typedef enum {
  off = 0,                      
  fwd = 1,                      
  rev = 2,                      
  brake = 3                     

} MotorDirection;

#ifndef DOXYGEN_SHOULD_SKIP_INTERNALS

typedef struct {
  union {
    unsigned assembler;         

    struct {
      unsigned char delta;      

      volatile unsigned char sum;       

    } c;
  } access;                     

  unsigned char dir;            

} MotorState;
#endif  // DOXYGEN_SHOULD_SKIP_INTERNALS

#define  MIN_SPEED      0       
#define  MAX_SPEED      255     


//
// Variables
//


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
//

#ifdef CONF_VIS

/*
** motor_*_dir() functions will display direction arrows, so
** define them in kernel/dmotor.c
*/
extern void motor_a_dir(MotorDirection dir);    
extern void motor_b_dir(MotorDirection dir);    
extern void motor_c_dir(MotorDirection dir);    

#else

/*
** No display, so make these functions inline
*/

extern inline void motor_a_dir(MotorDirection dir)
{
  dm_a.dir = dm_a_pattern[dir];
}


extern inline void motor_b_dir(MotorDirection dir)
{
  dm_b.dir = dm_b_pattern[dir];
}


extern inline void motor_c_dir(MotorDirection dir)
{
  dm_c.dir = dm_c_pattern[dir];
}

#endif // ifdef CONF_VIS



extern inline void motor_a_speed(unsigned char speed)
{
  dm_a.access.c.delta = speed;
}


extern inline void motor_b_speed(unsigned char speed)
{
  dm_b.access.c.delta = speed;
}


extern inline void motor_c_speed(unsigned char speed)
{
  dm_c.access.c.delta = speed;
}

#endif // CONF_DMOTOR

#ifdef  __cplusplus
}
#endif

#endif // __dmotor_h__

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