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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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2
examples/osd/servo-sensor/er-example-server.c
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/* /*
* Copyright (C) 2011-2013, Matthias Kovatsch and other contributors. * Copyright (C) 2011, Matthias Kovatsch and other contributors.
* All rights reserved. * All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without

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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);

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platform/osd-merkur/dev/t4-servo-sensor.h 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»»···
**--
*/
#ifndef __T4_SERVO_SENSOR_H__
#define __T4_SERVO_SENSOR_H__
#include "lib/sensors.h"
extern const struct sensors_sensor t4_servo_sensor;
#define T4_SENSOR_NAME "T4-Sensor"
#define T4_SENSOR_1_PORT 0x0E
#define T4_SENSOR_1_DDR 0x0D
#define T4_SENSOR_1_PIN PINE4
#define T4_SENSOR_2_PORT 0x0E
#define T4_SENSOR_2_DDR 0x0D
#define T4_SENSOR_2_PIN PINE3
#define T4_SENSOR_3_PORT 0x0E
#define T4_SENSOR_3_DDR 0x0D
#define T4_SENSOR_3_PIN PINE5
#define T4_SENSOR_4_PORT 0x0E
#define T4_SENSOR_4_DDR 0x0D
#define T4_SENSOR_4_PIN PINE6
#endif /* __T4_SERVO_SENSOR_H__ */

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platform/osd-merkur/dev/t4-servo.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
**
** Purpose
** Implements software pwm on any portpins via timer 4
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** <EFBFBD><EFBFBD>revision-date<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**--
*/
#include "t4-servo.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include "led.h"
static servo_channel_type servo_channels [SERVO_COUNT];
// timer 4: CTC OCR4A
#define WGM4 0x4
void t4_servo_init (void)
{
unsigned char channel;
for (channel = 0; channel < SERVO_COUNT; channel ++)
{
servo_channels [channel].duty = SERVO_MAX/2;
t4_servo_set_io (channel, DEFAULT_PORT, DEFAULT_DDR, DEFAULT_PIN);
}
cli ();
TCCR4A = 0x00;
TCCR4A_struct.wgm4 = WGM4 & 0x3;
TCCR4B_struct.wgm4 = (WGM4 & 0xc) >> 2;
TCCR4B_struct.cs4 = 0x1; // No prescaler
TCCR4C = 0x00;
OCR4A = T4_VALUE;
TIMSK4_struct.ocie4a = 1;
sei();
}
void t4_servo_off (void)
{
TIMSK4_struct.ocie4a = 0;
}
int t4_servo_set_io
( unsigned char channel
, unsigned char port
, unsigned char ddr
, unsigned char pin
)
{
if (channel >= SERVO_COUNT)
return -1;
servo_channels [channel].port = port;
servo_channels [channel].ddr = ddr;
servo_channels [channel].pin = 1 << pin;
_SFR_IO8 (ddr) |= pin;
return 0;
}
int t4_servo_get (unsigned int channel)
{
if (channel >= SERVO_COUNT)
return -1;
return servo_channels [channel].duty;
}
int t4_servo_set (unsigned int channel, unsigned int duty)
{
if (channel >= SERVO_COUNT)
return -1;
if (duty > SERVO_MAX)
return -2;
if (duty < SERVO_MIN)
return -3;
servo_channels [channel].duty = duty;
return 0;
}
ISR (TIMER4_COMPA_vect, ISR_NOBLOCK)
{
unsigned char channel;
static unsigned int tick_count = 0;
cli ();
for (channel = 0; channel < SERVO_COUNT; channel ++)
{
if (tick_count < servo_channels [channel].duty)
{
// turn on
_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
_SFR_IO8 (servo_channels [channel].port) |= servo_channels [channel].pin;
}
else
{
// turn off
_SFR_IO8 (servo_channels [channel].port) &= ~(servo_channels [channel].pin);
_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
}
}
tick_count ++;
if (tick_count >= (SERVO_MAX + SERVO_OFFSET))
{
tick_count = 0;
}
sei();
}

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platform/osd-merkur/dev/t4-servo.h 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
**
** Purpose
** Implements software pwm on any portpins via timer 4
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** <EFBFBD><EFBFBD>revision-date<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**--
*/
#ifndef __T4_SERVO_H__
#define __T4_SERVO_H__
// timing: (X:pwm, _:zero)
//
// X_______________XXXXXXXXXXXXX_______________XXXXXXXXXXXXX
//
// |<------------->|<--------->|<------------->|<--------->| ...
// SERVO_OFFSET SERVO_MAX SERVO_OFFSET SERVO_MAX
//
// within SERVO_MAX you get the PWM set with servo_set (id, pwm)
// if you set SERVO_OFFSET to zero, you get a pwm from 0 to 100% duty cycle
//
// the period of the smallest tick is derived from the timer4 prescaler
// plus the ISR overhead. however, the latter one should be constant
// regardless of the pwm signal generated
#define SERVO_OFFSET 256
#define SERVO_MIN 16
#define SERVO_MAX 32
// Counter value for timer 4 without any prescaler for a single tick
#define PWMFREQ 500
#define T4_VALUE F_CPU/SERVO_MAX/PWMFREQ
#define SERVO_COUNT 4
#define DEFAULT_PORT 0x0E
#define DEFAULT_PIN 1
#define DEFAULT_DDR 0x0D
typedef struct struct_servo_channel
{
unsigned char port;
unsigned char pin;
unsigned char ddr;
unsigned char duty;
} servo_channel_type;
void t4_servo_init(void);
void t4_servo_off(void);
int t4_servo_get(unsigned int channel);
int t4_servo_set(unsigned int channel, unsigned int duty);
int t4_servo_set_io
( unsigned char channel
, unsigned char port
, unsigned char ddr
, unsigned char pin
);
#endif /* __T4_SERVO_H__ */