Andy K / SimpleSteppers

Provides an API software interface to TIMER2 to control upto four stepper motors.

Dependents:   Steppermotor

inc/SimpleStepperOutput.h@4:7b7940df7865, 2011-05-20 (annotated)

Committer:
AjK
Date:
Fri May 20 09:13:31 2011 +0000
Revision:
4:7b7940df7865
Parent:
0:7393c52297ee 
1.1 See ChangeLog.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AjK 0:7393c52297ee 1 /****************************************************************************
AjK 0:7393c52297ee 2 * Product: LIB17 Open Source Library
AjK 0:7393c52297ee 3 *
AjK 0:7393c52297ee 4 * Steller Technologies Limited
AjK 0:7393c52297ee 5 * ----------------------------
AjK 0:7393c52297ee 6 *
AjK 0:7393c52297ee 7 * Copyright (C) 2002-2011 Steller Technologies Limited. All rights reserved.
AjK 0:7393c52297ee 8 *
AjK 0:7393c52297ee 9 * This software may be distributed and modified under the terms of the GNU
AjK 0:7393c52297ee 10 * General Public License version 2 (GPL) as published by the Free Software
AjK 0:7393c52297ee 11 * Foundation and appearing in the file GPL.TXT included in the packaging of
AjK 0:7393c52297ee 12 * this file. Please note that GPL Section 2[b] requires that all works based
AjK 0:7393c52297ee 13 * on this software must also be made publicly available under the terms of
AjK 0:7393c52297ee 14 * the GPL ("Copyleft").
AjK 0:7393c52297ee 15 *
AjK 0:7393c52297ee 16 * Alternatively, this software may be distributed and modified under the
AjK 0:7393c52297ee 17 * terms of Steller Technologies Limited commercial licenses, which expressly
AjK 0:7393c52297ee 18 * supersede the GPL and are specifically designed for licensees interested in
AjK 0:7393c52297ee 19 * retaining the proprietary status of their code.
AjK 0:7393c52297ee 20 *
AjK 0:7393c52297ee 21 * $Id:$
AjK 0:7393c52297ee 22 *
AjK 0:7393c52297ee 23 ***************************************************************************/
AjK 0:7393c52297ee 24
AjK 0:7393c52297ee 25 /**
AjK 0:7393c52297ee 26 * @defgroup SimpleStepperOutput SimpleStepperOutput functions
AjK 0:7393c52297ee 27 */
AjK 0:7393c52297ee 28
AjK 0:7393c52297ee 29 #ifndef AJK_SIMPLESTEPPEROUTPUT_H
AjK 0:7393c52297ee 30 #define AJK_SIMPLESTEPPEROUTPUT_H
AjK 0:7393c52297ee 31
AjK 0:7393c52297ee 32 #ifndef __ARMCC_VERSION
AjK 0:7393c52297ee 33 #include "SimpleStepperMbed.h"
AjK 0:7393c52297ee 34 #else
AjK 0:7393c52297ee 35 #include "mbed.h"
AjK 0:7393c52297ee 36 #endif
AjK 0:7393c52297ee 37
AjK 0:7393c52297ee 38
AjK 0:7393c52297ee 39 namespace AjK {
AjK 0:7393c52297ee 40
AjK 0:7393c52297ee 41 /** SimpleStepperOutput - Adds pin output objects.
AjK 0:7393c52297ee 42 *
AjK 0:7393c52297ee 43 * The Mbed library supplies the DigitalIn and DigitalOut objects to allow you
AjK 0:7393c52297ee 44 * to specify ins and outs.
AjK 0:7393c52297ee 45 *
AjK 0:7393c52297ee 46 * SimpleStepperOutput allows library objects to implement pins without the requirement
AjK 0:7393c52297ee 47 * to link against the Mbed library. This increase portability when using
AjK 0:7393c52297ee 48 * alternate compilers (such as the Code Red GCC C++ compiler for LPCXpresso).
AjK 0:7393c52297ee 49 *
AjK 0:7393c52297ee 50 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 51 */
AjK 0:7393c52297ee 52 class SimpleStepperOutput {
AjK 0:7393c52297ee 53 public:
AjK 0:7393c52297ee 54 enum Direction {
AjK 0:7393c52297ee 55 Out = 0
AjK 0:7393c52297ee 56 , In
AjK 0:7393c52297ee 57 };
AjK 0:7393c52297ee 58
AjK 0:7393c52297ee 59 protected:
AjK 0:7393c52297ee 60 PinName pin;
AjK 0:7393c52297ee 61 uint32_t mask;
AjK 0:7393c52297ee 62 uint32_t fiodir;
AjK 0:7393c52297ee 63 uint32_t fiomask;
AjK 0:7393c52297ee 64 uint32_t fiopin;
AjK 0:7393c52297ee 65 uint32_t fioset;
AjK 0:7393c52297ee 66 uint32_t fioclr;
AjK 0:7393c52297ee 67
AjK 0:7393c52297ee 68 inline void setpin(PinName p) { pin = p; }
AjK 0:7393c52297ee 69 inline void setmask(PinName p) { mask = (uint32_t)(1UL << ((uint32_t)p & 0x1F)); }
AjK 0:7393c52297ee 70 inline void setDir(PinName p) { fiodir = (uint32_t)(p & ~0x1F) + 0x00; }
AjK 0:7393c52297ee 71 inline void setMask(PinName p) { fiomask = (uint32_t)(p & ~0x1F) + 0x10; }
AjK 0:7393c52297ee 72 inline void setPin(PinName p) { fiopin = (uint32_t)(p & ~0x1F) + 0x14; }
AjK 0:7393c52297ee 73 inline void setSet(PinName p) { fioset = (uint32_t)(p & ~0x1F) + 0x18; }
AjK 0:7393c52297ee 74 inline void setClr(PinName p) { fioclr = (uint32_t)(p & ~0x1F) + 0x1C; }
AjK 0:7393c52297ee 75
AjK 0:7393c52297ee 76 inline void pinUp() { *((volatile uint32_t *)fioset) = mask; }
AjK 0:7393c52297ee 77 inline void pinDn() { *((volatile uint32_t *)fioclr) = mask; }
AjK 0:7393c52297ee 78 inline uint32_t pinIs() { return *((volatile uint32_t *)(fiopin)) & mask; }
AjK 0:7393c52297ee 79
AjK 0:7393c52297ee 80 public:
AjK 0:7393c52297ee 81
AjK 0:7393c52297ee 82 /** Constructor
AjK 0:7393c52297ee 83 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 84 */
AjK 0:7393c52297ee 85 SimpleStepperOutput(PinName p, Direction d = Out, PinMode m = PullDown) { init(p, d, m); };
AjK 0:7393c52297ee 86
AjK 0:7393c52297ee 87 /** write
AjK 0:7393c52297ee 88 *
AjK 0:7393c52297ee 89 * Writes a value to the pin.
AjK 0:7393c52297ee 90 *
AjK 0:7393c52297ee 91 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 92 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 93 * @param i Zero makes the pin 0v, non-zero makes the pin 1.
AjK 0:7393c52297ee 94 */
AjK 0:7393c52297ee 95 void write(int i) { if (i!=0) { pinUp(); } else { pinDn(); } }
AjK 0:7393c52297ee 96
AjK 0:7393c52297ee 97 /** read
AjK 0:7393c52297ee 98 *
AjK 0:7393c52297ee 99 * Reads the value on the pin.
AjK 0:7393c52297ee 100 *
AjK 0:7393c52297ee 101 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 102 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 103 * @return int 0v returns zero, otherwise returns 1.
AjK 0:7393c52297ee 104 */
AjK 0:7393c52297ee 105 int read(void) { return pinIs() ? 1 : 0; };
AjK 0:7393c52297ee 106
AjK 0:7393c52297ee 107 /** output
AjK 0:7393c52297ee 108 *
AjK 0:7393c52297ee 109 * Setup the pin to be an output.
AjK 0:7393c52297ee 110 *
AjK 0:7393c52297ee 111 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 112 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 113 * @ingroup API
AjK 0:7393c52297ee 114 * @return int 0v returns zero, otherwise returns 1.
AjK 0:7393c52297ee 115 */
AjK 0:7393c52297ee 116 void output(void) { *((volatile uint32_t *)fiodir) |= mask; }
AjK 0:7393c52297ee 117
AjK 0:7393c52297ee 118 /** input
AjK 0:7393c52297ee 119 *
AjK 0:7393c52297ee 120 * Setup the pin to be an input.
AjK 0:7393c52297ee 121 *
AjK 0:7393c52297ee 122 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 123 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 124 * @return int 0v returns zero, otherwise returns 1.
AjK 0:7393c52297ee 125 */
AjK 0:7393c52297ee 126 void input(void) { *((volatile uint32_t *)fiodir) &= ~mask; }
AjK 0:7393c52297ee 127
AjK 0:7393c52297ee 128 /** getPin
AjK 0:7393c52297ee 129 *
AjK 0:7393c52297ee 130 * Get the PinName this object is operating on.
AjK 0:7393c52297ee 131 *
AjK 0:7393c52297ee 132 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 133 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 134 * @return int 0v returns zero, otherwise returns 1.
AjK 0:7393c52297ee 135 */
AjK 0:7393c52297ee 136 PinName getPin(void) { return pin; }
AjK 0:7393c52297ee 137
AjK 0:7393c52297ee 138 /** getDirection
AjK 0:7393c52297ee 139 *
AjK 0:7393c52297ee 140 * Get the operational direction this pin is setup for.
AjK 0:7393c52297ee 141 *
AjK 0:7393c52297ee 142 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 143 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 144 * @return int 0v returns zero, otherwise returns 1.
AjK 0:7393c52297ee 145 */
AjK 0:7393c52297ee 146 int getDirection(void) { return *((volatile uint32_t *)fiomask) & mask ? 1 : 0; }
AjK 0:7393c52297ee 147
AjK 0:7393c52297ee 148 /** operator int()
AjK 0:7393c52297ee 149 *
AjK 0:7393c52297ee 150 * Reads the value on the pin.
AjK 0:7393c52297ee 151 *
AjK 0:7393c52297ee 152 * @see read
AjK 0:7393c52297ee 153 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 154 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 155 * @return int 0v returns zero, otherwise returns 1.
AjK 0:7393c52297ee 156 */
AjK 0:7393c52297ee 157 operator int() { return read(); }
AjK 0:7393c52297ee 158
AjK 0:7393c52297ee 159 /** operator=
AjK 0:7393c52297ee 160 *
AjK 0:7393c52297ee 161 * Writes a value to the pin.
AjK 0:7393c52297ee 162 *
AjK 0:7393c52297ee 163 * @see write
AjK 0:7393c52297ee 164 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 165 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 166 */
AjK 0:7393c52297ee 167 SimpleStepperOutput& operator= (int value) { write(value); return *this; }
AjK 0:7393c52297ee 168
AjK 0:7393c52297ee 169 /** operator=
AjK 0:7393c52297ee 170 *
AjK 0:7393c52297ee 171 * Writes a value to the pin.
AjK 0:7393c52297ee 172 *
AjK 0:7393c52297ee 173 * @see write
AjK 0:7393c52297ee 174 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 175 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 176 */
AjK 0:7393c52297ee 177 SimpleStepperOutput& operator= (SimpleStepperOutput& rhs) { write(rhs.read()); return *this; }
AjK 0:7393c52297ee 178
AjK 0:7393c52297ee 179 /** getMask
AjK 0:7393c52297ee 180 *
AjK 0:7393c52297ee 181 * Get the mask value for this pin.
AjK 0:7393c52297ee 182 *
AjK 0:7393c52297ee 183 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 184 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 185 * @return uint32_t The mask value used by this pin.
AjK 0:7393c52297ee 186 */
AjK 0:7393c52297ee 187 uint32_t getMask(void) { return mask; }
AjK 0:7393c52297ee 188
AjK 0:7393c52297ee 189 /** getFiodir
AjK 0:7393c52297ee 190 *
AjK 0:7393c52297ee 191 * Get the FIODIR register for the port the pin is on.
AjK 0:7393c52297ee 192 *
AjK 0:7393c52297ee 193 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 194 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 195 * @return uint32_t The register value.
AjK 0:7393c52297ee 196 */
AjK 0:7393c52297ee 197 uint32_t getFiodir(void) { return fiodir; }
AjK 0:7393c52297ee 198
AjK 0:7393c52297ee 199 /** getFiomask
AjK 0:7393c52297ee 200 *
AjK 0:7393c52297ee 201 * Get the FIOMASK register for the port the pin is on.
AjK 0:7393c52297ee 202 *
AjK 0:7393c52297ee 203 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 204 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 205 * @return uint32_t The register value.
AjK 0:7393c52297ee 206 */
AjK 0:7393c52297ee 207 uint32_t getFiomask(void) { return fiomask; }
AjK 0:7393c52297ee 208
AjK 0:7393c52297ee 209 /** getFiopin
AjK 0:7393c52297ee 210 *
AjK 0:7393c52297ee 211 * Get the FIOPIN register for the port the pin is on.
AjK 0:7393c52297ee 212 *
AjK 0:7393c52297ee 213 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 214 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 215 * @return uint32_t The register value.
AjK 0:7393c52297ee 216 */
AjK 0:7393c52297ee 217 uint32_t getFiopin(void) { return fiopin; }
AjK 0:7393c52297ee 218
AjK 0:7393c52297ee 219 /** getFioset
AjK 0:7393c52297ee 220 *
AjK 0:7393c52297ee 221 * Get the FIOSET register for the port the pin is on.
AjK 0:7393c52297ee 222 *
AjK 0:7393c52297ee 223 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 224 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 225 * @return uint32_t The register value.
AjK 0:7393c52297ee 226 */
AjK 0:7393c52297ee 227 uint32_t getFioset(void) { return fioset; }
AjK 0:7393c52297ee 228
AjK 0:7393c52297ee 229 /** getFioclr
AjK 0:7393c52297ee 230 *
AjK 0:7393c52297ee 231 * Get the FIOCLR register for the port the pin is on.
AjK 0:7393c52297ee 232 *
AjK 0:7393c52297ee 233 * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
AjK 0:7393c52297ee 234 * @ingroup SimpleStepperOutput
AjK 0:7393c52297ee 235 * @return uint32_t The register value.
AjK 0:7393c52297ee 236 */
AjK 0:7393c52297ee 237 uint32_t getFioclr(void) { return fioclr; }
AjK 0:7393c52297ee 238
AjK 0:7393c52297ee 239
AjK 0:7393c52297ee 240 protected:
AjK 0:7393c52297ee 241 void init(PinName p, Direction d, PinMode m)
AjK 0:7393c52297ee 242 {
AjK 0:7393c52297ee 243 // We rely on the fact that by default the LPC1768
AjK 0:7393c52297ee 244 // sets all pins to be GPIO. The user will change
AjK 0:7393c52297ee 245 // that if they need to. So we don't bother trying
AjK 0:7393c52297ee 246 // to setup PINSELx
AjK 0:7393c52297ee 247
AjK 0:7393c52297ee 248 // psel(); // Not used, see above.
AjK 0:7393c52297ee 249
AjK 0:7393c52297ee 250 setpin(p);
AjK 0:7393c52297ee 251 setmask(p);
AjK 0:7393c52297ee 252 setDir(p);
AjK 0:7393c52297ee 253 setMask(p);
AjK 0:7393c52297ee 254 setPin(p);
AjK 0:7393c52297ee 255 setSet(p);
AjK 0:7393c52297ee 256 setClr(p);
AjK 0:7393c52297ee 257
AjK 0:7393c52297ee 258 if (d == Out) output();
AjK 0:7393c52297ee 259 else mode( m );
AjK 0:7393c52297ee 260 }
AjK 0:7393c52297ee 261
AjK 0:7393c52297ee 262 protected:
AjK 0:7393c52297ee 263 void psel(void)
AjK 0:7393c52297ee 264 {
AjK 0:7393c52297ee 265 uint32_t ppsel, pumask;
AjK 0:7393c52297ee 266
AjK 0:7393c52297ee 267 if (pin >= P0_0 && pin <= P0_15) ppsel = (uint32_t)(&LPC_PINCON->PINSEL0);
AjK 0:7393c52297ee 268 else if (pin >= P0_16 && pin <= P0_31) ppsel = (uint32_t)(&LPC_PINCON->PINSEL1);
AjK 0:7393c52297ee 269 else if (pin >= P1_0 && pin <= P1_15) ppsel = (uint32_t)(&LPC_PINCON->PINSEL2);
AjK 0:7393c52297ee 270 else if (pin >= P1_16 && pin <= P1_31) ppsel = (uint32_t)(&LPC_PINCON->PINSEL3);
AjK 0:7393c52297ee 271 else if (pin >= P2_0 && pin <= P2_15) ppsel = (uint32_t)(&LPC_PINCON->PINSEL4);
AjK 0:7393c52297ee 272 else if (pin >= P3_16 && pin <= P3_31) ppsel = (uint32_t)(&LPC_PINCON->PINSEL7);
AjK 0:7393c52297ee 273 else if (pin >= P4_16 && pin <= P4_31) ppsel = (uint32_t)(&LPC_PINCON->PINSEL9);
AjK 0:7393c52297ee 274 else return;
AjK 0:7393c52297ee 275
AjK 0:7393c52297ee 276 pumask = ~(3UL << ((pin & 0x1F)>>1));
AjK 0:7393c52297ee 277 *((volatile uint32_t *)ppsel) &= pumask;
AjK 0:7393c52297ee 278 }
AjK 0:7393c52297ee 279
AjK 0:7393c52297ee 280 public:
AjK 0:7393c52297ee 281 void mode(PinMode m)
AjK 0:7393c52297ee 282 {
AjK 0:7393c52297ee 283 uint32_t ppmod, pumask;
AjK 0:7393c52297ee 284
AjK 0:7393c52297ee 285 if (m == OpenDrain) {
AjK 0:7393c52297ee 286 openDrain(1);
AjK 0:7393c52297ee 287 }
AjK 0:7393c52297ee 288 else {
AjK 0:7393c52297ee 289 if (pin >= P0_0 && pin <= P0_15) {
AjK 0:7393c52297ee 290 ppmod = (uint32_t)(&LPC_PINCON->PINMODE0);
AjK 0:7393c52297ee 291 pumask = ((m & 0x3) << ( ((pin & 0x1F)-0)*2) );
AjK 0:7393c52297ee 292 }
AjK 0:7393c52297ee 293 else if (pin >= P0_16 && pin <= P0_31) {
AjK 0:7393c52297ee 294 ppmod = (uint32_t)(&LPC_PINCON->PINMODE1);
AjK 0:7393c52297ee 295 pumask = ((m & 0x3) << ( ((pin & 0x1F)-16)*2) );
AjK 0:7393c52297ee 296 }
AjK 0:7393c52297ee 297 else if (pin >= P1_0 && pin <= P1_15) {
AjK 0:7393c52297ee 298 ppmod = (uint32_t)(&LPC_PINCON->PINMODE2);
AjK 0:7393c52297ee 299 pumask = ((m & 0x3) << ( ((pin & 0x1F)-0)*2) );
AjK 0:7393c52297ee 300 }
AjK 0:7393c52297ee 301 else if (pin >= P1_16 && pin <= P1_31) {
AjK 0:7393c52297ee 302 ppmod = (uint32_t)(&LPC_PINCON->PINMODE3);
AjK 0:7393c52297ee 303 pumask = ((m & 0x3) << ( ((pin & 0x1F)-16)*2) );
AjK 0:7393c52297ee 304 }
AjK 0:7393c52297ee 305 else if (pin >= P2_0 && pin <= P2_15) {
AjK 0:7393c52297ee 306 ppmod = (uint32_t)(&LPC_PINCON->PINMODE4);
AjK 0:7393c52297ee 307 pumask = ((m & 0x3) << ( ((pin & 0x1F)-0)*2) );
AjK 0:7393c52297ee 308 }
AjK 0:7393c52297ee 309 else if (pin >= P3_16 && pin <= P3_31) {
AjK 0:7393c52297ee 310 ppmod = (uint32_t)(&LPC_PINCON->PINMODE7);
AjK 0:7393c52297ee 311 pumask = ((m & 0x3) << ( ((pin & 0x1F)-16)*2) );
AjK 0:7393c52297ee 312 }
AjK 0:7393c52297ee 313 else if (pin >= P4_16 && pin <= P4_31) {
AjK 0:7393c52297ee 314 ppmod = (uint32_t)(&LPC_PINCON->PINMODE9);
AjK 0:7393c52297ee 315 pumask = ((m & 0x3) << ( ((pin & 0x1F)-16)*2) );
AjK 0:7393c52297ee 316 }
AjK 0:7393c52297ee 317 else return;
AjK 0:7393c52297ee 318
AjK 0:7393c52297ee 319 *((volatile uint32_t *)ppmod) |= pumask;
AjK 0:7393c52297ee 320 }
AjK 0:7393c52297ee 321 }
AjK 0:7393c52297ee 322
AjK 0:7393c52297ee 323 public:
AjK 0:7393c52297ee 324 void openDrain(int i = 1)
AjK 0:7393c52297ee 325 {
AjK 0:7393c52297ee 326 if (pin >= P0_0 && pin <= P0_31) { if (i) LPC_PINCON->PINMODE_OD0 |= mask; else LPC_PINCON->PINMODE_OD0 &= ~mask; }
AjK 0:7393c52297ee 327 else if (pin >= P1_0 && pin <= P1_31) { if (i) LPC_PINCON->PINMODE_OD1 |= mask; else LPC_PINCON->PINMODE_OD1 &= ~mask; }
AjK 0:7393c52297ee 328 else if (pin >= P2_0 && pin <= P2_31) { if (i) LPC_PINCON->PINMODE_OD2 |= mask; else LPC_PINCON->PINMODE_OD2 &= ~mask; }
AjK 0:7393c52297ee 329 else if (pin >= P3_16 && pin <= P3_31) { if (i) LPC_PINCON->PINMODE_OD3 |= mask; else LPC_PINCON->PINMODE_OD3 &= ~mask; }
AjK 0:7393c52297ee 330 else if (pin >= P4_16 && pin <= P4_31) { if (i) LPC_PINCON->PINMODE_OD4 |= mask; else LPC_PINCON->PINMODE_OD4 &= ~mask; }
AjK 0:7393c52297ee 331 }
AjK 0:7393c52297ee 332
AjK 0:7393c52297ee 333 };
AjK 0:7393c52297ee 334
AjK 0:7393c52297ee 335 }; /* namespace AjK ends. */
AjK 0:7393c52297ee 336
AjK 0:7393c52297ee 337 using namespace AjK;
AjK 0:7393c52297ee 338
AjK 0:7393c52297ee 339 #endif /* AJK_SIMPLESTEPPEROUTPUT_H */