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Zoul: generic servo driver

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This commit is contained in:
Antonio Lignan 2016-08-22 12:36:12 +02:00
parent 6947fc7381
commit 8cc1870663
7 changed files with 393 additions and 8 deletions
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18
cpu/cc2538/dev/pwm.c
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@ -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);