PIC24 Support Libraries: robotics/include/servoconfig2.h Source File

00001 
00040 /* Includes */
00041 #include    "esos.h"
00042 #include    "esos_pic24.h"
00043 
00048 #define NUM_SERVOS_USED_2 7
00049 
00052 #define SERVO_PRESCALER_2 64  //1, 8, 64, or 256
00053 
00058 #define SERVO_IRQ_LEVEL_2 2  //1, 2, 3, 4 for ESOS; 1-7 otherwise
00059 
00062 #define SERVO_PULSE_PERIOD_2 MS_TO_TICKS(20, SERVO_PRESCALER_2)
00063 
00068 extern volatile uint16 au16_servoDur2[NUM_SERVOS_USED_2];
00069 
00075 
00076 
00078 #define SERVO_2_PORT_1 _LATB14
00079 
00082 #define CONFIG_SERVO_2_PORT_1() CONFIG_RB14_AS_DIG_OUTPUT()
00083 
00084 /* Servo 2, Port 2 */
00085 #define SERVO_2_PORT_2 _LATB13
00086 #define CONFIG_SERVO_2_PORT_2() CONFIG_RB13_AS_DIG_OUTPUT()
00087 
00088 /* Servo 2, Port 3 */
00089 #define SERVO_2_PORT_3 _LATB12
00090 #define CONFIG_SERVO_2_PORT_3() CONFIG_RB12_AS_DIG_OUTPUT()
00091 
00092 /* Servo 2, Port 4 */
00093 #define SERVO_2_PORT_4 _LATB9
00094 #define CONFIG_SERVO_2_PORT_4() CONFIG_RB9_AS_DIG_OUTPUT()
00095 
00096 /* Servo 2, Port 5 */
00097 #define SERVO_2_PORT_5 _LATB8
00098 #define CONFIG_SERVO_2_PORT_5() CONFIG_RB8_AS_DIG_OUTPUT()
00099 
00100 /* Servo 2, Port 6 */
00101 #define SERVO_2_PORT_6 _LATB7
00102 #define CONFIG_SERVO_2_PORT_6() CONFIG_RB7_AS_DIG_OUTPUT()
00103 
00104 /* Servo 2, Port 7 */
00105 #define SERVO_2_PORT_7 _LATB4
00106 #define CONFIG_SERVO_2_PORT_7() CONFIG_RB4_AS_DIG_OUTPUT()
00108 
00109 #include "servo2.h"