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timer4 servo pwm

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Marcus Priesch 2013-04-09 13:56:04 +02:00 • committed by Ralf Schlatterbeck
parent 277f63d76a
commit 42c28e0bf7
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platform/osd-merkur/dev/t4-servo-sensor.c Normal file
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/*
** Copyright (C) 2013 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
** ««revision-date»»···
**--
*/
#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 ();
t4_servo_set_io (0, T4_SENSOR_1_PORT, T4_SENSOR_1_DDR, T4_SENSOR_1_PIN);
t4_servo_set_io (1, T4_SENSOR_2_PORT, T4_SENSOR_2_DDR, T4_SENSOR_2_PIN);
t4_servo_set_io (2, T4_SENSOR_3_PORT, T4_SENSOR_3_DDR, T4_SENSOR_3_PIN);
t4_servo_set_io (3, T4_SENSOR_4_PORT, T4_SENSOR_4_DDR, T4_SENSOR_4_PIN);
}
break;
case 0 :
t4_servo_set (0, c);
break;
case 1 :
t4_servo_set (1, c);
break;
case 2 :
t4_servo_set (2, c);
break;
case 3 :
t4_servo_set (3, c);
default:
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);