void
pwm_periodic()
{
#ifdef PWM_GENERAL_FADING_SUPPORT
#ifdef CH_A_PWM_GENERAL_SUPPORT
if (fadingAspeed!=0){
int16_t chAdiff = getpwm('a')+fadingAspeed;
if (chAdiff >= PWM_MIN_VALUE) {
fadingAspeed=0;
setpwm('a',PWM_MIN_VALUE);
} else if (chAdiff<=0) {
fadingAspeed=0;
setpwm('a',PWM_MAX_VALUE);
} else
setpwm('a',chAdiff);
}
#endif /* CH_A_PWM_GENERAL_SUPPORT */
#ifdef CH_B_PWM_GENERAL_SUPPORT
if (fadingBspeed!=0){
int16_t chBdiff = getpwm('b')+fadingBspeed;
if (chBdiff >= PWM_MIN_VALUE) {
fadingBspeed=0;
setpwm('b',PWM_MIN_VALUE);
} else if (chBdiff<=0) {
fadingBspeed=0;
setpwm('b',PWM_MAX_VALUE);
} else
setpwm('b',chBdiff);
}
#endif /* CH_B_PWM_GENERAL_SUPPORT */
#ifdef CH_C_PWM_GENERAL_SUPPORT
if (fadingCspeed!=0){
int16_t chCdiff = getpwm('c')+fadingCspeed;
if (chCdiff >= PWM_MIN_VALUE) {
fadingCspeed=0;
setpwm('c',PWM_MIN_VALUE);
} else if (chCdiff<=0) {
fadingCspeed=0;
setpwm('c',PWM_MAX_VALUE);
} else
setpwm('c',chCdiff);
}
#endif /* CH_C_PWM_GENERAL_SUPPORT */
#endif /* PWM_GENERAL_FADING_SUPPORT */
}
/*
* Class: Motor
* Method: getpwm
* Signature: (I)I
*/
JNIEXPORT jint JNICALL Java_cbccore_low_Motor_getpwm(JNIEnv* env, jobject obj, jint motor)
{
#ifdef CBC
return getpwm(motor);
#else
printf("Java_cbccore_low_Motor_getpwm stub\n");
return -1;
#endif
}
// set pwm via ecmdA
int16_t parse_cmd_pwm_command(char *cmd, char *output, uint16_t len)
{
uint8_t channel=cmd[1];
uint8_t value=atoi(cmd+3);
if (cmd[0]=='\0') {
#ifdef CH_A_PWM_GENERAL_SUPPORT
PWMDEBUG ("a: %i\n",getpwm('a'));
#endif /* CH_A_PWM_GENERAL_SUPPORT */
#ifdef CH_B_PWM_GENERAL_SUPPORT
PWMDEBUG ("b: %i\n",getpwm('b'));
#endif /* CH_B_PWM_GENERAL_SUPPORT */
#ifdef CH_C_PWM_GENERAL_SUPPORT
PWMDEBUG ("c: %i\n",getpwm('c'));
#endif /* CH_C_PWM_GENERAL_SUPPORT */
return ECMD_FINAL_OK;
}
if (cmd[2]=='\0') {
return ECMD_FINAL(snprintf_P(output, len, PSTR("%i"), getpwm(channel)));
}
setpwm(channel,value);
return ECMD_FINAL_OK;
}
