Zoul: generic servo driver

2016-08-22 12:36:12 +02:00 · 2016-08-22 12:36:12 +02:00 · 8cc1870663
commit 8cc1870663
parent 6947fc7381
7 changed files with 393 additions and 8 deletions
--- a/platform/zoul/dev/servo.h
+++ b/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
+/* -------------------------------------------------------------------------- */
+/**
+ * @}
+ * @}
+ */
+