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Platform specific code for a robot using stepper motors.

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This commit is contained in:
ksb 2007-02-24 00:21:16 +00:00
parent 13af443115
commit 20eaa31eff
17 changed files with 2262 additions and 0 deletions
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38
platform/stepper-robot/leds-arch.c Normal file
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#include <dev/leds.h>
#include <AT91SAM7S64.h>
#define GREEN_PIN AT91C_PIO_PA3
#define YELLOW_PIN AT91C_PIO_PA4
#define RED_PIN AT91C_PIO_PA8
#define ALL_PINS (GREEN_PIN | YELLOW_PIN | RED_PIN)
void
leds_arch_init(void)
{
*AT91C_PIOA_PER = ALL_PINS;
*AT91C_PIOA_OER = ALL_PINS;
*AT91C_PIOA_MDER = ALL_PINS;
*AT91C_PIOA_SODR = ALL_PINS;
}
unsigned char
leds_arch_get(void)
{
unsigned char on = 0;
if (*AT91C_PIOA_ODSR & GREEN_PIN) on |= LEDS_GREEN;
if (*AT91C_PIOA_ODSR & YELLOW_PIN) on |= LEDS_YELLOW;
if (*AT91C_PIOA_ODSR & RED_PIN) on |= LEDS_RED;
return on;
}
void
leds_arch_set(unsigned char leds)
{
unsigned int set = 0;
if (leds & LEDS_GREEN) set |= GREEN_PIN;
if (leds & LEDS_YELLOW) set |= YELLOW_PIN;
if (leds & LEDS_RED) set |= RED_PIN;
*AT91C_PIOA_CODR = set;
*AT91C_PIOA_SODR = (~set) & ALL_PINS;
}