102 lines
3 KiB
C
102 lines
3 KiB
C
|
/*
|
|||
|
|
** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
|
|||
|
|
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
|
|||
|
|
**
|
|||
|
|
** Redistribution and use in source and binary forms, with or without
|
|||
|
|
** modification, are permitted provided that the following conditions
|
|||
|
|
** are met:
|
|||
|
|
** 1. Redistributions of source code must retain the above copyright
|
|||
|
|
** notice, this list of conditions and the following disclaimer.
|
|||
|
|
** 2. Redistributions in binary form must reproduce the above copyright
|
|||
|
|
** notice, this list of conditions and the following disclaimer in the
|
|||
|
|
** documentation and/or other materials provided with the distribution.
|
|||
|
|
** 3. Neither the name of the Institute nor the names of its contributors
|
|||
|
|
** may be used to endorse or promote products derived from this software
|
|||
|
|
** without specific prior written permission.
|
|||
|
|
**
|
|||
|
|
** THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
|
|||
|
|
** ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|||
|
|
** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|||
|
|
** ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
|
|||
|
|
** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
|||
|
|
** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
|
|||
|
|
** OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
|||
|
|
** HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|||
|
|
** LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
|
|||
|
|
** OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
|
|||
|
|
** SUCH DAMAGE.
|
|||
|
|
**
|
|||
|
|
**++
|
|||
|
|
** Name
|
|||
|
|
** t4-servo-sensor
|
|||
|
|
**
|
|||
|
|
** Purpose
|
|||
|
|
** Implements a sensor around t4servo.c
|
|||
|
|
**
|
|||
|
|
**
|
|||
|
|
** Revision Dates
|
|||
|
|
** 31-Mar-2013 (MPR) Creation
|
|||
|
|
** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
|
|||
|
|
** <EFBFBD><EFBFBD>revision-date<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
**--
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
#include "contiki.h"
|
|||
|
|
#include "dev/t4-servo.h"
|
|||
|
|
#include "dev/t4-servo-sensor.h"
|
|||
|
|
|
|||
|
|
const struct sensors_sensor t4_servo_sensor;
|
|||
|
|
|
|||
|
|
static int status(int type);
|
|||
|
|
static int enabled = 0;
|
|||
|
|
|
|||
|
|
static int value (int channel)
|
|||
|
|
{
|
|||
|
|
if (channel >= SERVO_COUNT)
|
|||
|
|
return -1;
|
|||
|
|
else if (channel < 0)
|
|||
|
|
return -2;
|
|||
|
|
else
|
|||
|
|
return t4_servo_get (channel);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
static int configure (int type, int c) // type, c: SENSORS_ACTIVE, 1 -> act.
|
|||
|
|
// type, c: SENSORS_ACTIVE, 0 -> deact.
|
|||
|
|
{
|
|||
|
|
switch (type)
|
|||
|
|
{
|
|||
|
|
case SENSORS_ACTIVE :
|
|||
|
|
if (c == 0)
|
|||
|
|
{
|
|||
|
|
t4_servo_off ();
|
|||
|
|
}
|
|||
|
|
else if (c == 1)
|
|||
|
|
{
|
|||
|
|
t4_servo_init ();
|
|||
|
|
}
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
default :
|
|||
|
|
if (type >= SERVO_COUNT)
|
|||
|
|
return -1;
|
|||
|
|
else
|
|||
|
|
t4_servo_set (type, c);
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
static int status(int type)
|
|||
|
|
{
|
|||
|
|
switch (type)
|
|||
|
|
{
|
|||
|
|
case SENSORS_ACTIVE:
|
|||
|
|
case SENSORS_READY:
|
|||
|
|
return enabled;
|
|||
|
|
}
|
|||
|
|
return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
SENSORS_SENSOR(t4_servo_sensor, T4_SENSOR_NAME, value, configure, status);
|