X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=bertos%2Fdrv%2Fdc_motor.c;h=3609b7bda77e6dc3d7090ea74c370f77dc077b0e;hb=78d223e73e58bdd267f59994a52c618b4eb277fa;hp=13d8b769aaca72a9def91ff69382eb3c849298e7;hpb=b9c96114f83504fc6492d7aad95aaeb5d68532ac;p=bertos.git

diff --git a/bertos/drv/dc_motor.c b/bertos/drv/dc_motor.c
index 13d8b769..3609b7bd 100644
--- a/bertos/drv/dc_motor.c
+++ b/bertos/drv/dc_motor.c
@@ -46,6 +46,7 @@
 
 #include "dc_motor.h"
 #include "hw/hw_dc_motor.h"
+#include "cfg/cfg_pwm.h"
 
 // Define logging setting (for cfg/log.h module).
 #define LOG_LEVEL         DC_MOTOR_LOG_LEVEL
@@ -64,6 +65,18 @@
 
 #include <string.h>
 
+#if CFG_PWM_ENABLE_OLD_API
+	#define PWM_ENABLE(dcm, en)    pwm_enable((dcm)->cfg->pwm_dev, (en))
+	#define PWM_SETDUTY(dcm, duty) pwm_setDuty((dcm)->cfg->pwm_dev, (duty))
+	#define PWM_SETFREQ(dcm, freq) pwm_setFrequency((dcm)->cfg->pwm_dev, (freq))
+	#define PWM_SETPOL(dcm, pol)   pwm_setPolarity((dcm)->cfg->pwm_dev, (pol))
+#else
+	#define PWM_ENABLE(dcm, en)    pwm_enable(&(dcm)->pwm, (en))
+	#define PWM_SETDUTY(dcm, duty) pwm_setDuty(&(dcm)->pwm, (duty))
+	#define PWM_SETFREQ(dcm, freq) pwm_setFrequency(&(dcm)->pwm, (freq))
+	#define PWM_SETPOL(dcm, pol)   pwm_setPolarity(&(dcm)->pwm, (pol))
+#endif
+
 /**
  * Define status bit for DC motor device.
  */
@@ -82,7 +95,7 @@
 #define DC_MOTOR_SET_STATUS_DIR(status, dir) \
 		(dir == POS_DIR ? DC_MOTOR_POS_DIR(status) : DC_MOTOR_NEG_DIR(status))
 
-#if CONFIG_KERN_PREEMPT
+#if (CONFIG_KERN && CONFIG_KERN_PREEMPT)
 	#if CONFIG_DC_MOTOR_USE_SEM
 		#include <kern/sem.h>
 
@@ -164,7 +177,7 @@ static void dc_motor_stop(int index)
 
 	dcm->status &= ~DC_MOTOR_ACTIVE;
 	dcm->expire_time = DC_MOTOR_NO_EXPIRE;
-	pwm_enable(dcm->cfg->pwm_dev, false);
+	PWM_ENABLE(dcm, false);
 
 	if (dcm->cfg->braked)
 	{
@@ -192,7 +205,7 @@ static void dc_motor_do(int index)
 	DC_MOTOR_LOCK;
 
 	//If select DC motor is not active we return
-	if (!dcm->status & DC_MOTOR_ACTIVE)
+	if (!(dcm->status & DC_MOTOR_ACTIVE))
 	{
 		DC_MOTOR_UNLOCK;
 		return;
@@ -202,7 +215,7 @@ static void dc_motor_do(int index)
 	 * To set dc motor direction we must also set the
 	 * PWM polarity according with dc motor driver chip
 	 */
-	pwm_setPolarity(dcm->cfg->pwm_dev, dcm->status & DC_MOTOR_DIR);
+	PWM_SETPOL(dcm, dcm->status & DC_MOTOR_DIR);
 	DC_MOTOR_SET_DIR(dcm->index, dcm->status & DC_MOTOR_DIR);
 
 	//Compute next value for reaching target speed from current position
@@ -235,10 +248,10 @@ static void dc_motor_do(int index)
 	);
 
 	//Apply the compute duty value
-	pwm_setDuty(dcm->cfg->pwm_dev, new_pid);
+	PWM_SETDUTY(dcm, new_pid);
 
 	//Restart dc motor
-	pwm_enable(dcm->cfg->pwm_dev, true);
+	PWM_ENABLE(dcm, true);
 
 	DC_MOTOR_ENABLE(dcm->index);
 	DC_MOTOR_UNLOCK;
@@ -315,7 +328,7 @@ static void NORETURN dc_motor_poll(void)
 			if (dcm_all[i].status & DC_MOTOR_ACTIVE)
 			{
 				DC_MOTOR_DISABLE(dcm_all[i].index);
-				pwm_enable(dcm_all[i].cfg->pwm_dev, false);
+				PWM_ENABLE(&dcm_all[i], false);
 			}
 			DC_MOTOR_UNLOCK;
 		}
@@ -440,9 +453,11 @@ void dc_motor_setup(int index, DCMotorConfig *dcm_conf)
 	 * Clear the status.
 	 */
 	dcm->status = 0;
-
-	pwm_setFrequency(dcm->cfg->pwm_dev, dcm->cfg->freq);
-	pwm_enable(dcm->cfg->pwm_dev, false);
+#if !CFG_PWM_ENABLE_OLD_API
+	pwm_init(&dcm->pwm, dcm_conf->pwm_dev);
+#endif
+	PWM_SETFREQ(dcm, dcm->cfg->freq);
+	PWM_ENABLE(dcm, false);
 
 	//Set default direction for DC motor
 	DC_MOTOR_SET_DIR(dcm->index, dcm->cfg->dir);