added guhRF; added atmega256rfr2 support

platform/RaspBee/dev/servo.c

@@ -0,0 +1,152 @@
+/*
+ * Copyright (c) 2007, Swedish Institute of Computer Science
+ * 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.
+ *
+ */
+
+/*
+ * Device driver for the Sensirion SHT1x/SHT7x family of humidity and
+ * temperature sensors.
+ */
+
+#include "contiki.h"
+#include <stdio.h>
+#include <dev/servo.h>
+
+#define DEBUG 0
+
+#if DEBUG
+#include <stdio.h>
+#define PRINTF(...) printf(__VA_ARGS__)
+#else
+#define PRINTF(...)
+#endif
+
+/*---------------------------------------------------------------------------*/
+/*---------------------------------------------------------------------------*/
+/*
+ * servo device
+ */
+
+unsigned int servoa=SERVO_INIT;
+unsigned int servob=SERVO_INIT;
+
+void
+servo_init(void)
+{
+  // Port E initialization
+  // Set Pin 3 and 4 to output mode for OCR1A and OCR2A
+  DDRE |= 1<<3 | 1<<4;
+
+  // Timer/Counter 3 initialization
+  // Clock source: System Clock
+  // Clock value: 2000.000 kHz
+  // Mode: Ph. & fr. cor. PWM top=ICR1
+  // OC3A output: Connected
+  // OC3B output: Connected
+  // OC3C output: Connected
+  // Noise Canceler: Off
+  // Input Capture on Falling Edge
+  // Timer3 Overflow Interrupt: Off
+  // Input Capture Interrupt: Off
+  // Compare A Match Interrupt: Off
+  // Compare B Match Interrupt: Off
+  // Compare C Match Interrupt: Off
+
+  /* TCCR3A = [COM3A1|COM3A0|COM3B1|COM3B0||FOC3A|FOC3B|WGM31|WGM30] */
+  /*                1      0      1      0      1     0     0     0  */
+  TCCR3A=0xA8;
+  /* TCCR3B = [ ICNC3| ICES3|     -| WGM33||WGM32| CS32| CS31| CS30] */
+  /*                0      0      0      1      0     0     1     0  */
+  TCCR3B=0x12;
+  TCNT3H=0x00;
+  TCNT3L=0x00;
+  // ICR3 has a computed value of 20,000 - see the chip manual for how this
+  // value was derived.
+  // 20000 == 0x4e20 so that's what goes into the high and low byte of the ICR3 register
+  // alternatively, Codevision would let you just do ICR3 = 20000;
+  ICR3H=0x4E;
+  ICR3L=0x20;
+
+  // OCR3A will govern the steering servo, OCR3B will govern throttle
+  OCR3A = servoa;  // set it to an initial position somewhere in the middle of the 1 to 2ms range
+
+  // OCR3A will govern the steering servo, OCR3B will govern throttle
+  OCR3B = servob;  // set it to an initial position somewhere in the middle of the 1 to 2ms range
+  // start with motor off - no duty cycle at all
+  OCR3CH=0x00;
+  OCR3CL=0x00;
+}
+/*---------------------------------------------------------------------------*/
+/*
+ * Power of device.
+ */
+void
+servo_off(void)
+{
+
+}
+/*---------------------------------------------------------------------------*/
+/*
+ * get servo position
+ */
+unsigned int
+servo_get(unsigned int i)
+{
+  if(i==0)
+    return servoa;
+  if(i==1)
+    return servob;
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+/*
+ * Set servo position
+ */
+unsigned int
+servo_set(unsigned i,unsigned int j)
+{
+  if(j > SERVO_MAX)
+    j=SERVO_MAX;
+  if(j < SERVO_MIN)
+    j=SERVO_MIN;
+
+  if(i==0)
+  {
+    servoa=j;
+    OCR3A = servoa;
+    return 1;
+  }
+  if(i==1)
+  {
+    servob=j;
+    OCR3B = servob;
+    return 1;
+  }
+
+  return 0;
+}