void adjust_fan(uint32_t pwm)
{
static uint32_t value = 0x3ff;
if (value == pwm)
return;
value = pwm;
if (value < 0)
value = 0;
if (value > 0x3ff)
value = 0x3ff;
write_pwm(value);
}
void write_motor(uint8_t motor, int16_t val) {
uint8_t pin0 = (motor < 4)? (motor * 2) : ((motor-4)*2); //For PORTA vs PORTC
//volatile uint8_t* hport = (motor < 4)? &PORTA : &PORTC;
//*hport |= (1 << (val > 0)? pin0 : (pin0+1));
//*hport &= ~(1 << (val < 0)? pin0 : (pin0+1));
write_pwm(motor, (val > 0)? val : ((signed)-val)); //write positive value to pwm EN pin
if (motor == 5 || motor == 3) { val = -val; }//reverse these chanles
if (motor < 4){
PORTA |= (1 << ((val >= 0)? pin0 : (pin0+1)));
PORTA &= ~(1 << ((val >= 0)? (pin0+1) : pin0));
} else {
PORTC |= (1 << ((val >= 0)? pin0 : (pin0+1)));
PORTC &= ~(1 << ((val >= 0)? (pin0+1) : pin0));
}
}