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timer4 servo pwm

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Marcus Priesch 2013-04-04 13:03:18 +02:00 • committed by Ralf Schlatterbeck
parent 54114b0943
commit 277f63d76a
4 changed files with 100 additions and 5 deletions
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92
examples/osd/servo-sensor/er-example-server.c
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@ -1,5 +1,5 @@
/*
* Copyright (c) 2011, Matthias Kovatsch and other contributors.
* Copyright (C) 2011-2013, Matthias Kovatsch and other contributors.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
@ -46,7 +46,8 @@
/* Define which resources to include to meet memory constraints. */
#define REST_RES_INFO 1
#define REST_RES_SERVO 1
#define REST_RES_SERVO 0
#define REST_RES_T4_SERVO 1
#define REST_RES_TEMPERATURE 0
#define REST_RES_EVENT 0
#define REST_RES_LEDS 0
@ -70,6 +71,9 @@
#if defined (PLATFORM_HAS_SERVO)
#include "dev/servo-sensor.h"
#endif
#if defined (PLATFORM_HAS_T4_SERVO)
#include "dev/t4-servo-sensor.h"
#endif
#if defined (PLATFORM_HAS_TEMPERATURE)
#include "dev/temperature-sensor.h"
#endif
@ -134,6 +138,7 @@ info_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_
}
#endif
#if defined (PLATFORM_HAS_SERVO)
/*A simple actuator example. read the servo status*/
RESOURCE(servo, METHOD_GET | METHOD_PUT , "actuators/servo", "title=\"Servo\";rt=\"servo\"");
void
@ -186,7 +191,86 @@ servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred
REST.set_response_status(response, REST.status.BAD_REQUEST);
}
}
#endif
#if defined (PLATFORM_HAS_T4_SERVO)
RESOURCE(t4_servo, METHOD_GET | METHOD_PUT , "actuators/t4_servo", "title=\"Timer4Servo\";rt=\"t4_servo\"");
void
t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
{
int success = 1;
char temp[100];
int index = 0;
int length = 0; /* |<-------->| */
const char *value = NULL;
size_t len = 0;
int red = t4_servo_sensor.value(0);
int green = t4_servo_sensor.value(1);
int blue = t4_servo_sensor.value(2);
int white = t4_servo_sensor.value(3);
switch(REST.get_method_type(request)){
case METHOD_GET:
// jSON Format
index += sprintf(temp + index,"{\n \"red\" : \"%d\",", red);
index += sprintf(temp + index, "\n \"green\" : \"%d\",", green);
index += sprintf(temp + index, "\n \"blue\" : \"%d\",", blue);
index += sprintf(temp + index, "\n \"white\" : \"%d\"", white);
index += sprintf(temp + index,"}\n");
length = strlen(temp);
memcpy(buffer, temp, length);
REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
REST.set_response_payload(response, buffer, length);
break;
case METHOD_POST:
success = 0;
break;
case METHOD_PUT:
// Note that we have to set all at once:
// red=255&green=255&blue=255&white=255
// otherwise we get "bad request"
if (success && (len=REST.get_post_variable(request, "red", &value)))
{
t4_servo_sensor.configure(0,atoi(value));
} else {
success = 0;
}
if (success && (len=REST.get_post_variable(request, "green", &value))) {
t4_servo_sensor.configure(1,atoi(value));
} else {
success = 0;
}
if (success && (len=REST.get_post_variable(request, "blue", &value))) {
t4_servo_sensor.configure(2,atoi(value));
} else {
success = 0;
}
if (success && (len=REST.get_post_variable(request, "white", &value))) {
t4_servo_sensor.configure(3,atoi(value));
} else {
success = 0;
}
break;
default:
success = 0;
}
if (!success) {
REST.set_response_status(response, REST.status.BAD_REQUEST);
}
}
#endif
/*A simple actuator example, post variable mode, relay is activated or deactivated*/
RESOURCE(led1, METHOD_GET | METHOD_PUT , "aktors/led1", "title=\"Led1\";rt=\"led\"");
@ -455,6 +539,10 @@ PROCESS_THREAD(rest_server_example, ev, data)
SENSORS_ACTIVATE(servo_sensor);
rest_activate_resource(&resource_servo);
#endif
#if defined (PLATFORM_HAS_T4_SERVO) && REST_RES_T4_SERVO
SENSORS_ACTIVATE(t4_servo_sensor);
rest_activate_resource(&resource_t4_servo);
#endif
/* Define application-specific events here. */
while(1) {