Merge pull request #1837 from alignan/pull/servo

Zoul: generic servo driver

cpu/cc2538/dev/pwm.c

@@ -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);

cpu/cc2538/dev/pwm.h

@@ -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]

examples/cc2538-common/test-pwm.c

@@ -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),

examples/zolertia/zoul/Makefile

@@ -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)
 

examples/zolertia/zoul/test-servo.c

@@ -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();
+}
+/*---------------------------------------------------------------------------*/
+/**
+ * @}
+ * @}
+ */

platform/zoul/dev/servo.c

@@ -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;
+}
+/*---------------------------------------------------------------------------*/
+/** @} */

platform/zoul/dev/servo.h

@@ -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
+/* -------------------------------------------------------------------------- */
+/**
+ * @}
+ * @}
+ */
+