avr/motor.h

   1 /*
   2  * Copyright (C) 2007 Anton Blad
   3  * Copyright (C) 2007 Fredrik Kuivinen
   4  * Copyright (C) 2007 Jakob Rosén
   5  *
   6  * This file is licensed under GPL v2.
   7  */
   8
   9 #ifndef MOTOR_H
  10 #define MOTOR_H
  11
  12 #include <stdint.h>
  13
  14 #define MOTOR_TIMEOUT_MASK 0x07ff
  15 #define MOTOR_STATUS_MASK 0x8000
  16 #define MOTOR_TRANSITION_MASK 0x4000
  17
  18 extern uint16_t motor_status;
  19 extern uint16_t motor_latency_ms;
  20
  21 static inline void motor_init() { }
  22
  23 static inline uint8_t motor_ison()
  24 {
  25         return (motor_status & MOTOR_STATUS_MASK) != 0;
  26 }
  27
  28 static inline uint8_t motor_isoff()
  29 {
  30         return (motor_status & MOTOR_STATUS_MASK) == 0;
  31 }
  32
  33 static inline uint16_t motor_latency()
  34 {
  35         return motor_latency_ms;
  36 }
  37
  38 static inline void motor_setlatency(uint16_t t)
  39 {
  40         motor_latency_ms = t;
  41 }
  42
  43 void motor_task();
  44
  45 #endif