/*
* Sets the motor speed given a percentage.
* Disable interrupts before calling.
*/
void set_target_speed(enum motor_list motor, int8_t percent)
{
uint32_t speed = 0;
// Clamp the percentage of power
if (percent >= 100)
{
percent = 99;
}
if (percent <= -100)
{
percent = -99;
}
// If the percentage is positive we want to go forward, otherwise
// we want to go in reverse.
if (percent >= 0)
{
set_target_motor_direction(motor, ROBOT_FORWARD);
}
else
{
set_target_motor_direction(motor, ROBOT_REVERSE);
}
percent = abs(percent);
speed = (uint32_t)((float)percent/100 * get_timer_period(&(Motors[motor])));
Motors[motor].target_speed = speed;
}
/**
* @brief
* This function initializes the Timer structure variables
*/
void init_sw_timer(void )
{
/* TODO :Later, this function should be made to read values
* from Device Tree */
int iter;
timer_cpu_info.expires_next.tval64 = TIMEVAL_MAX;
INIT_LIST_HEAD(&timer_cpu_info.pending_routines);
timer_cpu_info.num_events = 0;
for(iter = 0; iter < MAX_NUM_OF_TIMERS; iter++)
{
timer_cpu_info.clock_info[iter].cpu_info = &timer_cpu_info;
timer_cpu_info.clock_info[iter].clock_id = iter;
INIT_LIST_HEAD(&timer_cpu_info.clock_info[iter].active);
INIT_SPIN_LOCK(&timer_cpu_info.clock_info[iter].spin_lock);
timer_cpu_info.clock_info[iter].clock_period.tval64 =
get_clock_period();
timer_cpu_info.clock_info[iter].timer_period.tval64 =
get_timer_period();
}
/* TODO :Later this should be made to obtain from Device Tree */
timer_cpu_info.free_run_clock_id = 0;
timer_cpu_info.tick_timer_id = 1;
#define SW_FREE_RUNNING_CNTR timer_cpu_info.free_run_clock_id
#define SW_TICKTIMER timer_cpu_info.tick_timer_id
sw_timer_info.sw_timestamp.tval64 = 0;
sw_timer_info.abs_cycles_count = 0;
sw_timer_info.cycles_count_new = 0;
sw_timer_info.cycles_count_old = 0;
sw_timer_info.timer_period.tval64 = get_timer_period();
sw_timer_info.clock_period.tval64 = get_clock_period();
}