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Merge pull request #1837 from alignan/pull/servo

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Zoul: generic servo driver
This commit is contained in:
Antonio Lignan 2016-08-31 12:00:31 +02:00 committed by GitHub
commit 4ce322b7b0
7 changed files with 393 additions and 8 deletions
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18
cpu/cc2538/dev/pwm.c
View file

@ -90,7 +90,8 @@ permit_pm1(void)
}
/*---------------------------------------------------------------------------*/
int8_t
pwm_enable(uint32_t freq, uint8_t duty, uint8_t timer, uint8_t ab)
pwm_enable(uint32_t freq, uint8_t duty, uint32_t count, uint8_t timer,
uint8_t ab)
{
uint8_t offset = 0;
uint32_t interval_load, duty_count, copy;
@ -109,7 +110,7 @@ pwm_enable(uint32_t freq, uint8_t duty, uint8_t timer, uint8_t ab)
return PWM_ERROR;
}
PRINTF("PWM: F%08luHz: %u%% on GPT%u-%u\n", freq, duty, timer, ab);
PRINTF("PWM: F%08luHz: %u%%/%lu on GPT%u-%u\n", freq, duty, count, timer, ab);
lpm_register_peripheral(permit_pm1);
@ -147,14 +148,21 @@ pwm_enable(uint32_t freq, uint8_t duty, uint8_t timer, uint8_t ab)
/* If the duty cycle is zero, leave the GPTIMER configured as PWM to pass a next
* configured check, but do nothing else */
if(!duty) {
if((!duty) && (!count)) {
REG(gpt_base + GPTIMER_CTL) |= (copy | gpt_dir);
return PWM_SUCCESS;
}
/* Get the peripheral clock and equivalent deassert count */
/* Get the peripheral clock and equivalent deassert count, depending on the
* value given by the user, either use the count number of the duty cycle in
* percentage
*/
interval_load = sys_ctrl_get_sys_clock() / freq;
duty_count = ((interval_load * duty) + 1) / 100;
if(duty) {
duty_count = ((interval_load * duty) + 1) / 100;
} else {
duty_count = count;
}
PRINTF("PWM: sys %luHz: %lu %lu\n", sys_ctrl_get_sys_clock(),
interval_load, duty_count);

4
cpu/cc2538/dev/pwm.h
View file

@ -116,11 +116,13 @@
/** \brief Configures the general purpose timer in PWM mode
* \param freq PWM frequency (in Hz)
* \param duty PWM duty cycle (percentage in integers)
* \param count PWM duty cycle (count number)
* \param timer General purpose timer to use [0-3]
* \param ab Select which timer to use (Timer A or B)
* \return \c PWM_SUCCESS if successful, else \c PWM_ERROR
*/
int8_t pwm_enable(uint32_t freq, uint8_t duty, uint8_t timer, uint8_t ab);
int8_t pwm_enable(uint32_t freq, uint8_t duty, uint32_t count, uint8_t timer,
uint8_t ab);
/*---------------------------------------------------------------------------*/
/** \brief Disables a previously PWM configured GPTn
* \param timer General purpose timer to disable [0-3]

2
examples/cc2538-common/test-pwm.c
View file

@ -145,7 +145,7 @@ PROCESS_THREAD(cc2538_pwm_test, ev, data)
PRINTF("\nStarting the test\n");
for(i = 0; i < MAX_PWM; i++) {
if(pwm_enable(pwm_num[i].freq, pwm_num[i].duty,
if(pwm_enable(pwm_num[i].freq, pwm_num[i].duty, 0,
pwm_num[i].timer, pwm_num[i].ab) == PWM_SUCCESS) {
pwm_en[i] = 1;
PRINTF("%s (%u) configuration OK\n", gpt_name(pwm_num[i].timer),

2
examples/zolertia/zoul/Makefile
View file

@ -10,7 +10,7 @@ CONTIKI_PROJECT += test-zonik test-dht22.c
CONTIKI_TARGET_SOURCEFILES += tsl2563.c sht25.c bmpx8x.c motion-sensor.c
CONTIKI_TARGET_SOURCEFILES += adc-sensors.c weather-meter.c grove-gyro.c
CONTIKI_TARGET_SOURCEFILES += rgb-bl-lcd.c pm10-sensor.c iaq.c zonik.c relay.c
CONTIKI_TARGET_SOURCEFILES += dht22.c
CONTIKI_TARGET_SOURCEFILES += dht22.c servo.c
all: $(CONTIKI_PROJECT)

107
examples/zolertia/zoul/test-servo.c Normal file
View file

@ -0,0 +1,107 @@
/*
* Copyright (c) 2016, Zolertia - http://www.zolertia.com
* All rights reserved.
*
* 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 copyright holder 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 COPYRIGHT HOLDERS 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
* COPYRIGHT HOLDER 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.
*/
/**
* \addtogroup zoul-examples
* @{
*
* \defgroup zoul-servo-test Test the EMAX ES08A II servo motor
*
* Demonstrates the use of the EMAX ES08A servo motor. This servo requires a
* +5V voltage, it can be powered from D+5.1 pin (of the ADC3 connector), but
* it requires either an external power supply other than the USB for programing
* or it can be powered by the USB 2.0 connector, which allows a higher current
* draw.
*
* This test uses the default servo values (freq 50Hz, traveling time 1.5-1.9ms)
* for 0-180º movement, tested with the EMAX ES08A. Depending on the servo used
* you might need to adjust these parameters in the servo.h header file.
*
* @{
*
* \file
* A quick program for testing a servo motor
* \author
* Antonio Lignan <alinan@zolertia.com>
*/
/*---------------------------------------------------------------------------*/
#include "contiki.h"
#include "dev/leds.h"
#include "dev/servo.h"
#include <stdio.h>
#include <stdint.h>
/*---------------------------------------------------------------------------*/
#define DEBUG 1
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
/*---------------------------------------------------------------------------*/
static struct etimer et;
/*---------------------------------------------------------------------------*/
PROCESS(servo_test_process, "Zolertia servo test process");
AUTOSTART_PROCESSES(&servo_test_process);
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(servo_test_process, ev, data)
{
PROCESS_BEGIN();
static uint8_t deg = 0;
PRINTF("\nStarting the test\n");
while(1) {
servo_position(SERVO_CHANNEL_5, GPIO_A_NUM, 5, deg);
PRINTF("Current position --> %03uº\n", deg);
etimer_set(&et, CLOCK_SECOND / 2);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
/* Increase the position by 10º each iteration */
deg += 10;
if(deg > SERVO_MAX_DEGREES) {
deg = 0;
servo_stop(SERVO_CHANNEL_5, GPIO_A_NUM, 5);
/* Stop the servo and wait 2 seconds before resuming from start */
etimer_set(&et, CLOCK_SECOND * 2);
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
}
}
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
/**
* @}
* @}
*/

132
platform/zoul/dev/servo.c Normal file
View file

@ -0,0 +1,132 @@
/*
* Copyright (c) 2016, Zolertia - http://www.zolertia.com
* All rights reserved.
*
* 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.
*
*/
/*---------------------------------------------------------------------------*/
/**
* \addtogroup zoul-servo
* @{
*
* \file
* Driver for a generic Servo driver
*
* \author
* Antonio Lignan <alinan@zolertia.com>
*/
/*---------------------------------------------------------------------------*/
#include "contiki.h"
#include "dev/pwm.h"
#include "dev/gpio.h"
#include "servo.h"
/*---------------------------------------------------------------------------*/
#define DEBUG 0
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
/*---------------------------------------------------------------------------*/
int
servo_position(uint16_t gptab, uint8_t port, uint8_t pin, uint16_t pos)
{
uint8_t gpt_num;
uint8_t gpt_ab;
uint32_t count = 0;
if((gptab < SERVO_CHANNEL_1) && (gptab > SERVO_CHANNEL_7)) {
PRINTF("Servo: invalid servo channel\n");
return SERVO_ERROR;
}
/* CC2538 has 4 ports (A-D) and up to 8 pins (0-7) */
if((port > GPIO_D_NUM) || (pin > 7)) {
PRINTF("Servo: Invalid pin/port settings\n");
return SERVO_ERROR;
}
if(pos > SERVO_MAX_DEGREES) {
PRINTF("Servo: invalid position (max %u)\n", SERVO_MAX_DEGREES);
return SERVO_ERROR;
}
count = (SERVO_MAX_VAL - SERVO_MIN_VAL) * pos;
count /= SERVO_MAX_DEGREES;
count += SERVO_MIN_VAL;
gpt_num = (uint8_t)(gptab >> 8);
gpt_ab = (uint8_t)(gptab & 0x00FF);
PRINTF("Servo: F%uHz GPTNUM %u GPTAB %u --> %uº (%lu)\n", SERVO_DEFAULT_FREQ,
gpt_num, gpt_ab,
pos, count);
/* Use count as argument instead of percentage */
if(pwm_enable(SERVO_DEFAULT_FREQ, 0, count, gpt_num,gpt_ab) != PWM_SUCCESS) {
PRINTF("Servo: failed to configure the pwm channel\n");
return SERVO_ERROR;
}
/* Start the PWM as soon as possible, keep the pulses to lock the servo in the
* given position
*/
if(pwm_start(gpt_num, gpt_ab, port, pin) != PWM_SUCCESS) {
PRINTF("Servo: failed to initialize the pwm channel\n");
return SERVO_ERROR;
}
return SERVO_SUCCESS;
}
/*---------------------------------------------------------------------------*/
int
servo_stop(uint16_t gptab, uint8_t port, uint8_t pin)
{
uint8_t gpt_num;
uint8_t gpt_ab;
if((gptab < SERVO_CHANNEL_1) && (gptab > SERVO_CHANNEL_7)) {
PRINTF("Servo: invalid servo channel\n");
return SERVO_ERROR;
}
/* CC2538 has 4 ports (A-D) and up to 8 pins (0-7) */
if((port > GPIO_D_NUM) || (pin > 7)) {
PRINTF("Servo: Invalid pin/port settings\n");
return SERVO_ERROR;
}
gpt_num = (uint8_t)((gptab & 0xFF00) >> 8);
gpt_ab = (uint8_t)(gptab & 0x00FF);
if(pwm_disable(gpt_num, gpt_ab, port, pin) != PWM_SUCCESS) {
PRINTF("Servo: unable to disable the pwm channel\n");
return SERVO_ERROR;
}
return SERVO_SUCCESS;
}
/*---------------------------------------------------------------------------*/
/** @} */

136
platform/zoul/dev/servo.h Normal file
View file

@ -0,0 +1,136 @@
/*
* Copyright (c) 2016, Zolertia - http://www.zolertia.com
* All rights reserved.
*
* 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.
*
* This file is part of the Contiki operating system.
*
*/
/*---------------------------------------------------------------------------*/
/**
* \addtogroup zoul-sensors
* @{
*
* \defgroup zoul-servo Generic servo driver
*
* Driver for a Generic Servo actuator
*
* @{
*
* \file
* Header file for a Generic Servo driver
*
* \author
* Antonio Lignan <alinan@zolertia.com>
*/
/*---------------------------------------------------------------------------*/
#ifndef SERVO_H_
#define SERVO_H_
#include <stdio.h>
#include "dev/pwm.h"
/* -------------------------------------------------------------------------- */
/**
* \name Servo default settings
* @{
*/
/* -------------------------------------------------------------------------- */
#ifndef SERVO_CONF_FREQ
#define SERVO_DEFAULT_FREQ 50 /**< 50 Hz */
#else
#define SERVO_DEFAULT_FREQ SERVO_CONF_FREQ
#endif
#ifndef SERVO_CONF_MAX_DEGREES
#define SERVO_MAX_DEGREES 180
#else
#define SERVO_MAX_DEGREES SERVO_CONF_MAX_DEGREES
#endif
#ifndef SERVO_CONF_MIN_VAL
#define SERVO_MIN_VAL 9600 /**> roughly equals to 3% duty cycle */
#else
#define SERVO_MIN_VAL SERVO_CONF_MIN_VAL
#endif
#ifndef SERVO_CONF_MAX_VAL
#define SERVO_MAX_VAL 38400 /**> roughly equals to 12% duty cycle */
#else
#define SERVO_MAX_VAL SERVO_CONF_MAX_VAL
#endif
/** @} */
/* -------------------------------------------------------------------------- */
/**
* \name Servo general purpose timers mapping
* @{
*/
#define SERVO_CHANNEL_1 0x001 /**< GPT0-B */
#define SERVO_CHANNEL_2 0x100 /**< GPT1-A */
#define SERVO_CHANNEL_3 0x101 /**< GPT1-B */
#define SERVO_CHANNEL_4 0x200 /**< GPT2-A */
#define SERVO_CHANNEL_5 0x201 /**< GPT2-B */
#define SERVO_CHANNEL_6 0x300 /**< GPT3-A */
#define SERVO_CHANNEL_7 0x301 /**< GPT3-B */
/** @} */
/* -------------------------------------------------------------------------- */
/**
* \name Servo general constants
* @{
*/
#define SERVO_SUCCESS 0
#define SERVO_ERROR (-1)
/** @} */
/* -------------------------------------------------------------------------- */
/**
* \name Servo public funtions
* @{
*/
/** \brief Configures and positions a servo in a given position (by degrees)
* The servo will lock its position as long as it is not stopped
* \param gptab Servo channel (PWM GPT from 1-7)
* \param port Port number to use as PWM
* \param pin Pin number to use as PWM
* \param pos Position to map the servo to (0-360º, integer)
* \return \c SERVO_SUCCESS if successful, else \c SERVO_ERROR
*/
int servo_position(uint16_t gptab, uint8_t port, uint8_t pin, uint16_t pos);
/** \brief Fully stop a servo and reconfigures back the pin/port as GPIO
* \param gptab Servo channel (PWM GPT from 1-7)
* \param port Port number to use as PWM
* \param pin Pin number to use as PWM
* \return \c SERVO_SUCCESS if successful, else \c SERVO_ERROR
*/
int servo_stop(uint16_t gptab, uint8_t port, uint8_t pin);
/** @} */
/* -------------------------------------------------------------------------- */
#endif
/* -------------------------------------------------------------------------- */
/**
* @}
* @}
*/