ccs pwm code!,,,,no documents available..

[avrsanju]

pls explain me the following functions...

// MPWM Functions: setup_motor_pwm(), set_motor_unit(),

//                 set_motor_pwm_duty(), set_motor_pwm_event(),
//                 get_motor_pwm_count()
// MPWM Prototypes:
_bif void setup_motor_pwm(unsigned int8 pwm, unsigned int32 mode, unsigned int32 timebase);
_bif void setup_motor_pwm(unsigned int8 pwm, unsigned int32 mode, unsigned int8 prescale, unsigned int8 postscale, unsigned int16 period);
_bif void set_motor_unit(unsigned int8 pwm, unsigned int8 pin_pair, unsigned int16 mode, unsigned int8 active_deadtime, unsigned int8 inactive_deadtime);
_bif void set_motor_pwm_duty(unsigned int8 pwm, unsigned int8 pin_pair, unsigned int16 duty);
_bif void set_motor_pmw_event(unsigned int8, signed int16 time);
_bif unsigned int16 get_motor_pwm_count(unsigned int8 pwm);
// Constants used in setup_motor_pwm() second param are (first param is unit number 1,2...):
#define MPWM_DISABLED          0
#define MPWM_FREE_RUN          0x8000
#define MPWM_SINGLE_PULSE      0x8001
#define MPWM_UP_DOWN           0x8002
#define MPWM_UP_DOWN_WITH_INTS 0x8003
// OR in any of the following:
#define MPWM_HALT_WHEN_IDLE            0x2000
#define MPWM_DUTY_UPDATES_IMMEADIATE  0x40000
#define MPWM_SYNC_OVERRIDES           0x20000
#define MPWM_DISABLE_UPDATES          0x10000
#define MPWM_LATCH_FAULTS            0x100000

// Constants used in set_motor_unit() third param are:  (first param is unit number 1,2... and second param is pwm pin pair 1,2,3 or 4)
#define MPWM_INDEPENDENT     0x0001
#define MPWM_ENABLE          0x0006  // both H and L
#define MPWM_ENABLE_H        0x0004
#define MPWM_ENABLE_L        0x0002

#define MPWM_FORCE_L_0       0x0010
#define MPWM_FORCE_L_1       0x0050
#define MPWM_FORCE_H_0       0x0020
#define MPWM_FORCE_H_1       0x00A0

#define MPWM_FAULTA_LA_HA     0x0700
#define MPWM_FAULTA_LA_HI     0x0500
#define MPWM_FAULTA_LI_HA     0x0600
#define MPWM_FAULTA_LI_HI     0x0400
#define MPWM_FAULTB_LA_HA     0x7000
#define MPWM_FAULTB_LA_HI     0x5000
#define MPWM_FAULTB_LI_HA     0x6000
#define MPWM_FAULTB_LI_HI     0x4000
#define MPWM_FAULT_NO_CHANGE 0x0000