[tuxdroid-svn] r470 - firmware/tuxcore/trunk

[Paul_R <c2m...@c2...>]

Author: Paul_R
Date: 2007-08-28 17:19:53 +0200 (Tue, 28 Aug 2007)
New Revision: 470

Modified:
   firmware/tuxcore/trunk/main.c
   firmware/tuxcore/trunk/motors.h
Log:
Moved the code which controls the motors from main.c to the motors module.


Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c	2007-08-28 12:59:08 UTC (rev 469)
+++ firmware/tuxcore/trunk/main.c	2007-08-28 15:19:53 UTC (rev 470)
@@ -71,7 +71,6 @@
 uint8_t t4ms_tim;               /* 4ms main tick timer */
 uint8_t t100ms_tim;             /* 100ms tick timer */
 uint8_t t1s_tim;                /* 1s tick timer */
-uint8_t pwm_tim;                /* pwm timer */
 
 #if (DBG_STACK)
 /*
@@ -100,77 +99,8 @@
 {
     t4ms_tim++;
 
-    /* Wings PWM
-     * Pulse is stopped here */
-    if (pwm_tim == wingsPwm)
-        MOT_WINGS_FW_PT &= ~MOT_WINGS_FW_MK;
+    motor_control();
 
-    /* Spin PWM
-     * Pulse is stopped here */
-    if (pwm_tim == spinPwm)
-        MOT_SPIN_PT &= ~MOT_SPIN_MK;
-
-    /* PWM motor management
-     * Pulse is set here when pwm_tim is at maximum and is
-     * reset when pwm_tim equals the PWM value set by the user
-     * */
-    if (pwm_tim++ == 5)
-    {
-        pwm_tim = 0;
-        PORTB |= pwmMaskB;      /* spin and wings */
-    }
-
-    /* Wings timer to stop the wings in any position */
-    if (wings_tim)
-    {
-        wings_tim--;
-        if (!wings_tim)
-        {
-            stopWings();
-        }
-    }
-
-    /* Wings braking (motor reversed) delay */
-    if (wingsStpCnt)
-    {
-        wingsStpCnt--;
-        if (!wingsStpCnt)
-        {
-            stopWings();
-        }
-    }
-
-    /* eyes braking (motor reversed) delay */
-    if (eyesStpCnt)
-    {
-        eyesStpCnt--;
-        if (!eyesStpCnt)
-        {
-            stopEyes();
-        }
-    }
-
-    /* mouth braking (motor reversed) delay */
-    if (mouthStpCnt)
-    {
-        mouthStpCnt--;
-        if (!mouthStpCnt)
-        {
-            stopMouth();
-        }
-    }
-
-    /* spin braking (motor reversed) delay */
-    if (spinStpCnt)
-    {
-        spinStpCnt--;
-	if (!spinStpCnt)
-	{
-            spinPwmMask &= ~MOT_SPIN_MK;
-            stopSpinMot();
-        }
-    }
-
     /* Every 100ms, update status and send it to the computer */
     if (t4ms_tim == 25)
     {

Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h	2007-08-28 12:59:08 UTC (rev 469)
+++ firmware/tuxcore/trunk/motors.h	2007-08-28 15:19:53 UTC (rev 470)
@@ -36,9 +36,6 @@
 extern uint8_t mouthStpCnt, mouthPosCnt, mouth_pos;
 extern uint8_t spinPosCnt, spinStpCnt, spinPwm;
 
-/* counter to disable spin interrupts at PC int */
-extern volatile uint8_t intt_spin_cnt;
-
 /* switches interrupts vector for timer debounce */
 extern volatile uint8_t int_sw_flags;
 
@@ -158,8 +155,12 @@
    \brief Stop the spinning motor
    \ingroup primitives
  */
-#define stopSpinMot()   (MOT_SPIN_PT &= ~MOT_SPIN_MK)
-
+static inline void stopSpinMot(void) __attribute__ ((always_inline));
+void stopSpinMot(void)
+{
+    spinPwmMask &= ~MOT_SPIN_MK;
+    MOT_SPIN_PT &= ~MOT_SPIN_MK;
+}
 /**
    \brief Start spinning to the left
    \ingroup primitives
@@ -171,5 +172,89 @@
    \ingroup primitives
  */
 #define runSpinRight()  (MOT_SPIN_L_PT &= ~MOT_SPIN_L_MK); (MOT_SPIN_R_PT |= MOT_SPIN_R_MK)
+/**
+   \brief Control the PWM of the spinning & flippers and motor braking.
+   \ingroup primitives
+ * XXX Change group name
+ * This function should be called from a timer interrupt that will fix the PWM
+ * resolution. 
+ * The PWM period will be PWM_PERIOD times * the timer period.
+ * The braking time is dependant on the timer period too.
+ */
+#define PWM_PERIOD 5
+uint8_t static pwm_tim;
 
+
+static inline void motor_control(void) __attribute__ ((always_inline));
+void motor_control(void)
+{
+    /* Wings PWM
+     * Pulse is stopped here */
+    if (pwm_tim == wingsPwm)
+        MOT_WINGS_FW_PT &= ~MOT_WINGS_FW_MK;
+
+    /* Spin PWM
+     * Pulse is stopped here */
+    if (pwm_tim == spinPwm)
+        MOT_SPIN_PT &= ~MOT_SPIN_MK;
+
+    /* PWM motor management
+     * Pulse is set here when pwm_tim is at maximum and is
+     * reset when pwm_tim equals the PWM value set by the user
+     */
+    if (pwm_tim++ == PWM_PERIOD)
+    {
+        pwm_tim = 0;
+        PORTB |= pwmMaskB;      /* spin and wings */
+    }
+    /* Wings timer to stop the wings in any position */
+    if (wings_tim)
+    {
+        wings_tim--;
+        if (!wings_tim)
+        {
+            stopWings();
+        }
+    }
+
+    /* Wings braking (motor reversed) delay */
+    if (wingsStpCnt)
+    {
+        wingsStpCnt--;
+        if (!wingsStpCnt)
+        {
+            stopWings();
+        }
+    }
+
+    /* eyes braking (motor reversed) delay */
+    if (eyesStpCnt)
+    {
+        eyesStpCnt--;
+        if (!eyesStpCnt)
+        {
+            stopEyes();
+        }
+    }
+
+    /* mouth braking (motor reversed) delay */
+    if (mouthStpCnt)
+    {
+        mouthStpCnt--;
+        if (!mouthStpCnt)
+        {
+            stopMouth();
+        }
+    }
+
+    /* spin braking (motor reversed) delay */
+    if (spinStpCnt)
+    {
+        spinStpCnt--;
+	if (!spinStpCnt)
+	{
+            stopSpinMot();
+        }
+    }
+}
 #endif