/*
** ===================================================================
** Method : Servo2_SetDutyUS (bean PWM)
**
** Description :
** This method sets the new duty value of the output signal. The
** duty is expressed in microseconds as a 16-bit unsigned integer
** number.
** Parameters :
** NAME - DESCRIPTION
** Time - Duty to set [in microseconds]
** (0 to 2500 us in high speed mode)
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_MATH - Overflow during evaluation
** ERR_RANGE - Parameter out of range
** ===================================================================
*/
byte Servo2_SetDutyUS(word Time)
{
dlong rtval; /* Result of two 32-bit numbers multiplication */
PE_Timer_LngMul((dword)Time,(dword)439804651,&rtval); /* Multiply given value and high speed CPU mode coefficient */
if (PE_Timer_LngHi3(rtval[0],rtval[1],&RatioStore)) { /* Is the result greater or equal than 65536 ? */
RatioStore = 65535; /* If yes then use maximal possible value */
}
SetRatio(); /* Calculate and set up new appropriate values of the duty and period registers */
return ERR_OK; /* OK */
}
/*
** ===================================================================
** Method : M_1_SetDutyUS (component PWM)
** Description :
** This method sets the new duty value of the output signal.
** The duty is expressed in microseconds as a 16-bit
** unsigned integer number.
** Parameters :
** NAME - DESCRIPTION
** Time - Duty to set [in microseconds]
** (0 to 20000 us in high speed mode)
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_MATH - Overflow during evaluation
** ERR_RANGE - Parameter out of range
** ===================================================================
*/
byte M_1_SetDutyUS(word Time)
{
dlong rtval; /* Result of two 32-bit numbers multiplication */
if (Time > 0x4E20U) { /* Is the given value out of range? */
return ERR_RANGE; /* If yes then error */
}
PE_Timer_LngMul((dword)Time, 0x0346DADDUL, &rtval); /* Multiply given value and High speed CPU mode coefficient */
if (PE_Timer_LngHi3(rtval[0], rtval[1], &ActualRatio.Value)) { /* Is the result greater or equal than 65536 ? */
ActualRatio.Value = 0xFFFFU; /* If yes then use maximal possible value */
}
SetRatio(); /* Calculate and set up new appropriate values of the compare and modulo registers */
return ERR_OK; /* OK */
}
/*
** ===================================================================
** Method : FC321_GetTimeUS (bean FreeCntr32)
**
** Description :
** Returns the time (as a 16-bit unsigned integer) in microseconds
** since the last resetting after the last reset.
** Parameters :
** NAME - DESCRIPTION
** * Time - A pointer to the returned 16-bit value
** in microseconds
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_OVERFLOW - Software counter overflow
** ERR_MATH - Overflow during evaluation
** ===================================================================
*/
byte FC321_GetTimeUS(word *Time)
{
dlong RTval; /* Result of two 32-bit numbers multiplication */
if (LoadTicks()) { /* Load actual state of counter */
return ERR_OVERFLOW; /* If yes then error */
}
PE_Timer_LngMul(LTicks, 167772160UL, &RTval); /* Multiply ticks and high speed CPU mode coefficient */
if (PE_Timer_LngHi3(RTval[0], RTval[1], Time)) { /* Is the result greater or equal than 65536 ? */
return ERR_MATH; /* If yes then error */
} else { /* Is the result less than 65536 ? */
return ERR_OK; /* If yes then OK */
}
}
/*
** ===================================================================
** Method : TickTimer_SetPeriodUS (bean TimerInt)
**
** Description :
** This method sets the new period of the generated events.
** The period is expressed in microseconds as a 16-bit
** unsigned integer number.
** This method is available only if runtime setting type
** 'from interval' is selected in the Timing dialog box in
** Runtime setting area.
** Parameters :
** NAME - DESCRIPTION
** Time - Period to set [in microseconds]
** (1000 to 20000 microseconds)
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_MATH - Overflow during evaluation
** ERR_RANGE - Parameter out of range
** ===================================================================
*/
byte TickTimer_SetPeriodUS(word Time)
{
dlong rtval; /* Result of two 32-bit numbers multiplication */
word rtword; /* Result of 64-bit number division */
if ((Time > 20000) || (Time < 1000)) /* Is the given value out of range? */
return ERR_RANGE; /* If yes then error */
PE_Timer_LngMul((dword)Time,52412023,&rtval); /* Multiply given value and high speed CPU mode coefficient */
if (PE_Timer_LngHi3(rtval[0],rtval[1],&rtword)) /* Is the result greater or equal than 65536 ? */
rtword = 65535; /* If yes then use maximal possible value */
CmpHighVal = rtword; /* Store result (compare register value for high speed CPU mode) to the variable CmpHighVal */
SetCV(CmpHighVal); /* Store appropriate value to the compare register according to the selected high speed CPU mode */
return ERR_OK; /* OK */
}
/*
** ===================================================================
** Method : FC81_GetTimeUS (component FreeCntr8)
**
** Description :
** Returns the time (as a 16-bit unsigned integer) in microseconds
** since the last resetting after the last reset.
** Parameters :
** NAME - DESCRIPTION
** * Time - A pointer to the returned 16-bit value
** in microseconds
** Returns :
** --- - Error code, possible codes:
** ERR_OK - OK
** ERR_SPEED - This device does not work in
** the active speed mode
** ERR_OVERFLOW - Software counter overflow
** ERR_MATH - Overflow during evaluation
** ===================================================================
*/
byte FC81_GetTimeUS(word *Time)
{
dlong rtval; /* Result of two 32-bit numbers multiplication */
LoadTicks(); /* Load actual state of counter */
if (LOvf) { /* Testing counter overflow */
return ERR_OVERFLOW; /* If yes then error */
}
PE_Timer_LngMul((dword)LTicks,134217728UL,&rtval); /* Multiply ticks and high speed CPU mode coefficient */
if (PE_Timer_LngHi3(rtval[0],rtval[1],Time)) { /* Is the result greater or equal than 65536 ? */
return ERR_MATH; /* If yes then error */
}
else { /* Is the result less than 65536 ? */
return ERR_OK; /* If yes then OK */
}
}
