Add stepper timer example implementation for avr.

git-svn-id: https://src.develer.com/svnoss/bertos/trunk@1383 38d2e660-2303-0410-9eaa-f027e97ec537

diff --git a/bertos/cpu/avr/drv/stepper_avr.c b/bertos/cpu/avr/drv/stepper_avr.c
new file mode 100644 (file)
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+++ b/bertos/cpu/avr/drv/stepper_avr.c
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+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief Low-level stepper timer module for AVR (inplementation).
+ *
+ * \version $Id$
+ *
+ * \author Daniele Basile <asterix@develer.com>
+ *
+ */
+
+#include "stepper_avr.h"
+
+#include <cfg/cfg_stepper.h>
+#include <cfg/macros.h>
+#include <cfg/debug.h>
+
+#include <cpu/types.h>
+#include <cpu/irq.h>
+
+
+#warning TODO:This is an example, you must implement it!
+
+///< Static array of timer counter struct for stepper.
+static struct TimerCounter stepper_timers[CONFIG_TC_STEPPER_MAX_NUM] =
+{
+       { //Timer Counter settings for TIO0 output pin
+                       /* fill with stepper timer channel settings */
+       }
+
+       /* Add here other stepper timer channel settings */
+};
+
+/**
+ * Timer couter setup.
+ *
+ * This function apply to select timer couter all needed settings.
+ * Every settings are stored in stepper_timers[].
+ */
+void stepper_tc_setup(int index, stepper_isr_t callback, struct Stepper *motor)
+{
+       /* Put here the code to setup the stepper timer drive */
+}
+
+/**
+ * Timer counter init.
+ */
+void stepper_tc_init(void)
+{
+       /* Put here the code to init the stepper timer drive */
+}
+

diff --git a/bertos/cpu/avr/drv/stepper_avr.h b/bertos/cpu/avr/drv/stepper_avr.h
new file mode 100644 (file)
index 0000000..0173e4e
--- /dev/null
+++ b/bertos/cpu/avr/drv/stepper_avr.h
@@ -0,0 +1,122 @@
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction.  Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License.  This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
+ *
+ * -->
+ *
+ * \brief Low-level stepper timer module for AVR (inplementation).
+ *
+ * \version $Id$
+ *
+ * \author Daniele Basile <asterix@develer.com>
+ *
+ */
+
+#ifndef DRV_STEPPER_AVR_H
+#define DRV_STEPPER_AVR_H
+
+
+#include <cfg/compiler.h>
+#include <cfg/macros.h>
+
+#include <drv/stepper.h>
+
+#warning TODO:This is an example, you must implement it!
+
+/**
+ * IRQ callback function type definition.
+ */
+typedef void (*irq_t)(void);
+
+/**
+ * Timer contex structure.
+ */
+typedef struct TimerCounter
+{
+       int timer_id;                  ///< Timer counter ID
+       irq_t isr;                     ///< IRQ handler
+       stepper_isr_t callback;        ///< Interrupt callback pointer
+       struct Stepper *motor;         ///< Stepper context structure
+
+} TimerCounter;
+
+/**
+ * Enable interrupt for timer counter compare event.
+ */
+INLINE void stepper_tc_irq_enable(struct TimerCounter *timer)
+{
+               /* put here code to enable timer irq */
+}
+
+
+/**
+ * Disable interrupt for timer counter compare event.
+ */
+INLINE void  stepper_tc_irq_disable(struct TimerCounter *timer)
+{
+               /* put here code to disable timer irq */
+}
+
+/**
+ * Set delay for next interrupt compare event.
+ */
+INLINE void  stepper_tc_setDelay(struct TimerCounter *timer, stepper_time_t delay)
+{
+               /* put here code to set the delay for next irq */
+}
+
+
+/**
+ * Set delay for next interrupt compare event.
+ */
+INLINE void  stepper_tc_resetTimer(struct TimerCounter *timer)
+{
+               /* put here code to reset the timer */
+}
+
+/**
+ * Programm timer counter to generate a pulse on select TIO output.
+ */
+INLINE void FAST_FUNC stepper_tc_doPulse(struct TimerCounter *timer)
+{
+               /* put here code to generate a pulse */
+}
+
+/**
+ * Programm timer counter to not generate a pulse on select TIO output.
+ */
+INLINE void FAST_FUNC stepper_tc_skipPulse(struct TimerCounter *timer)
+{
+               /* put here code to skip a pulse */
+}
+
+void stepper_tc_setup(int index, stepper_isr_t callback, struct Stepper *motor);
+void stepper_tc_init(void);
+
+#endif /*DRV_STEPPER_AVR_H */