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Factored to support configurable amount of pwm's, fixes

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This commit is contained in:
Marcus Priesch 2014-03-12 12:34:23 +01:00 committed by harald
parent bf6f388691
commit 992e54fe25
8 changed files with 363 additions and 518 deletions
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2
examples/osd/dual-rgbw-actor/Makefile
View file

@ -3,7 +3,7 @@ all: er-example-server
# variable for this Makefile
# configure CoAP implementation (3|7|12|13) (er-coap-07 also supports CoAP draft 08)
WITH_COAP=13
WITH_COAP=7
# for some platforms
UIP_CONF_IPV6=1

2
examples/osd/dual-rgbw-actor/flash.sh
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@ -1,2 +1,2 @@
#!/bin/bash
avrdude -V -pm128rfa1 -c arduino -P/dev/ttyUSB0 -b57600 -e -U flash:w:er-example-server.osd-merkur.hex:a -U eeprom:w:er-example-server.osd-merkur.eep:a
avrdude -pm128rfa1 -c arduino -P/dev/ttyUSB0 -b57600 -e -U flash:w:er-example-server.osd-merkur.hex:a -U eeprom:w:er-example-server.osd-merkur.eep:a

16
examples/osd/dual-rgbw-actor/t4-servo-hardware.h
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@ -35,14 +35,14 @@
static servo_channel_type servo_channels [] =
{ /* PORTx, DDRx, PINxn, PWM */
{0x05, 0x04, PINB7, 0} // r
, {0x0E, 0x0D, PINE2, 0} // g
, {0x05, 0x04, PINB6, 0} // b
, {0x05, 0x04, PINB5, 0} // w
, {0x05, 0x04, PINB1, 0} // r
, {0x05, 0x04, PINB0, 0} // g
, {0x05, 0x04, PINB2, 0} // b
, {0x05, 0x04, PINB3, 0} // w
{0x05, 0x04, 1 << PINB7, 0} // r1
, {0x0E, 0x0D, 1 << PINE2, 0} // g1
, {0x05, 0x04, 1 << PINB6, 0} // b1
, {0x05, 0x04, 1 << PINB5, 0} // w1
, {0x05, 0x04, 1 << PINB1, 0} // r2
, {0x05, 0x04, 1 << PINB0, 0} // g2
, {0x05, 0x04, 1 << PINB2, 0} // b2
, {0x05, 0x04, 1 << PINB3, 0} // w2
};
#endif

78
examples/osd/dual-rgbw-actor/t4-servo-sensors.h
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@ -1,78 +0,0 @@
//os_fname_map// t4-servo-config:h:h
// Copyright (C) 2014 Marcus Priesch, All rights reserved
// In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
// ****************************************************************************
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
// ****************************************************************************
//
//++
// Name
// t4-servo-config
//
// Purpose
// configuration for t4-servo
//
// Revision Dates
// 10-Mar-2014 (MPR) Creation
// ««revision-date»»···
//--
#include <avr/io.h>
#ifndef __T4_SERVO_CONFIG_H__
#define __T4_SERVO_CONFIG_H__ 1
// timing: (X:pwm, _:zero)
//
// X_______________XXXXXXXXXXXXX_______________XXXXXXXXXXXXX
//
// |<------------->|<--------->|<------------->|<--------->| ...
// SERVO_OFFSET SERVO_MAX SERVO_OFFSET SERVO_MAX
//
// within SERVO_MAX you get the PWM set with servo_set (id, pwm)
// if you set SERVO_OFFSET to zero, you get a pwm from 0 to 100% duty cycle
//
// the period of the smallest tick is derived from the timer4 prescaler
// plus the ISR overhead. however, the latter one should be constant
// regardless of the pwm signal generated
#define SERVO_OFFSET 0
#define SERVO_MIN 0
#define SERVO_MAX 255
// Counter value for timer 4 without any prescaler for a single tick
#define PWMFREQ 500
#define T4_VALUE F_CPU/SERVO_MAX/PWMFREQ
#define SERVO_COUNT 8
#define T4_SENSOR_NAME "Dual RGBW Led"
#ifndef servo_channels_defined
#define servo_channels_defined
static servo_channel_type servo_channels [SERVO_COUNT] =
{ {0x0E, 0x0D, PINE2, 0}
, {0x0B, 0x0D, PINB7, 0}
, {0x0B, 0x0D, PINB6, 0}
, {0x0B, 0x0D, PINB5, 0}
, {0x0B, 0x0D, PINB0, 0}
, {0x0B, 0x0D, PINB1, 0}
, {0x0B, 0x0D, PINB2, 0}
, {0x0B, 0x0D, PINB3, 0}
};
#endif
#endif

214
platform/osd-merkur/dev/t4-servo-sensor.c
View file

@ -1,113 +1,101 @@
/*
** Copyright (C) 2013 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
**
** 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.
**
**++
** Name
** t4-servo-sensor
**
** Purpose
** Implements a sensor around t4servo.c
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** ««revision-date»»···
**--
*/
#include "contiki.h"
#include "dev/t4-servo.h"
#include "dev/t4-servo-sensor.h"
const struct sensors_sensor t4_servo_sensor;
static int status(int type);
static int enabled = 0;
static int value (int channel)
{
if (channel >= SERVO_COUNT)
return -1;
else if (channel < 0)
return -2;
else
return t4_servo_get (channel);
}
static int configure (int type, int c) // type, c: SENSORS_ACTIVE, 1 -> act.
// type, c: SENSORS_ACTIVE, 0 -> deact.
{
switch (type)
{
case SENSORS_ACTIVE :
if (c == 0)
{
t4_servo_off ();
}
else if (c == 1)
{
t4_servo_init ();
t4_servo_set_io (0, T4_SENSOR_1_PORT, T4_SENSOR_1_DDR, T4_SENSOR_1_PIN);
t4_servo_set_io (1, T4_SENSOR_2_PORT, T4_SENSOR_2_DDR, T4_SENSOR_2_PIN);
t4_servo_set_io (2, T4_SENSOR_3_PORT, T4_SENSOR_3_DDR, T4_SENSOR_3_PIN);
t4_servo_set_io (3, T4_SENSOR_4_PORT, T4_SENSOR_4_DDR, T4_SENSOR_4_PIN);
}
break;
case 0 :
t4_servo_set (0, c);
break;
case 1 :
t4_servo_set (1, c);
break;
case 2 :
t4_servo_set (2, c);
break;
case 3 :
t4_servo_set (3, c);
default:
break;
}
return 0;
}
static int status(int type)
{
switch (type)
{
case SENSORS_ACTIVE:
case SENSORS_READY:
return enabled;
}
return 0;
}
SENSORS_SENSOR(t4_servo_sensor, T4_SENSOR_NAME, value, configure, status);
/*
** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
**
** 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.
**
**++
** Name
** t4-servo-sensor
**
** Purpose
** Implements a sensor around t4servo.c
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
** ««revision-date»»···
**--
*/
#include "contiki.h"
#include "dev/t4-servo.h"
#include "dev/t4-servo-sensor.h"
const struct sensors_sensor t4_servo_sensor;
static int status(int type);
static int enabled = 0;
static int value (int channel)
{
if (channel >= SERVO_COUNT)
return -1;
else if (channel < 0)
return -2;
else
return t4_servo_get (channel);
}
static int configure (int type, int c) // type, c: SENSORS_ACTIVE, 1 -> act.
// type, c: SENSORS_ACTIVE, 0 -> deact.
{
switch (type)
{
case SENSORS_ACTIVE :
if (c == 0)
{
t4_servo_off ();
}
else if (c == 1)
{
t4_servo_init ();
}
break;
default :
if (type >= SERVO_COUNT)
return -1;
else
t4_servo_set (type, c);
break;
}
return 0;
}
static int status(int type)
{
switch (type)
{
case SENSORS_ACTIVE:
case SENSORS_READY:
return enabled;
}
return 0;
}
SENSORS_SENSOR(t4_servo_sensor, T4_SENSOR_NAME, value, configure, status);

123
platform/osd-merkur/dev/t4-servo-sensor.h
View file

@ -1,71 +1,52 @@
/*
** Copyright (C) 2013 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
**
** 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.
**
**++
** Name
** t4-servo-sensor
**
** Purpose
** Implements a sensor around t4servo.c
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** ««revision-date»»···
**--
*/
#ifndef __T4_SERVO_SENSOR_H__
#define __T4_SERVO_SENSOR_H__
#include "lib/sensors.h"
extern const struct sensors_sensor t4_servo_sensor;
#define T4_SENSOR_NAME "T4-Sensor"
#define T4_SENSOR_1_PORT 0x0E
#define T4_SENSOR_1_DDR 0x0D
#define T4_SENSOR_1_PIN PINE4
#define T4_SENSOR_2_PORT 0x0E
#define T4_SENSOR_2_DDR 0x0D
#define T4_SENSOR_2_PIN PINE3
#define T4_SENSOR_3_PORT 0x0E
#define T4_SENSOR_3_DDR 0x0D
#define T4_SENSOR_3_PIN PINE5
#define T4_SENSOR_4_PORT 0x0E
#define T4_SENSOR_4_DDR 0x0D
#define T4_SENSOR_4_PIN PINE6
#endif /* __T4_SERVO_SENSOR_H__ */
/*
** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
**
** 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.
**
**++
** Name
** t4-servo-sensor
**
** Purpose
** Implements a sensor around t4servo.c
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
««revision-date»»···
**--
*/
#ifndef __T4_SERVO_SENSOR_H__
#define __T4_SERVO_SENSOR_H__
#include "lib/sensors.h"
#include "t4-servo-config.h"
extern const struct sensors_sensor t4_servo_sensor;
#endif /* __T4_SERVO_SENSOR_H__ */

289
platform/osd-merkur/dev/t4-servo.c
View file

@ -1,150 +1,139 @@
/*
** Copyright (C) 2013 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
**
** 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.
**
**++
** Name
** t4-servo
**
** Purpose
** Implements software pwm on any portpins via timer 4
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** <EFBFBD><EFBFBD>revision-date<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**--
*/
#include "t4-servo.h"
#include <avr/io.h>
#include <avr/interrupt.h>
#include "led.h"
static servo_channel_type servo_channels [SERVO_COUNT];
// timer 4: CTC OCR4A
#define WGM4 0x4
void t4_servo_init (void)
{
unsigned char channel;
for (channel = 0; channel < SERVO_COUNT; channel ++)
{
servo_channels [channel].duty = SERVO_MAX/2;
t4_servo_set_io (channel, DEFAULT_PORT, DEFAULT_DDR, DEFAULT_PIN);
}
cli ();
TCCR4A = 0x00;
TCCR4A_struct.wgm4 = WGM4 & 0x3;
TCCR4B_struct.wgm4 = (WGM4 & 0xc) >> 2;
TCCR4B_struct.cs4 = 0x1; // No prescaler
TCCR4C = 0x00;
OCR4A = T4_VALUE;
TIMSK4_struct.ocie4a = 1;
sei();
}
void t4_servo_off (void)
{
TIMSK4_struct.ocie4a = 0;
}
int t4_servo_set_io
( unsigned char channel
, unsigned char port
, unsigned char ddr
, unsigned char pin
)
{
if (channel >= SERVO_COUNT)
return -1;
servo_channels [channel].port = port;
servo_channels [channel].ddr = ddr;
servo_channels [channel].pin = 1 << pin;
_SFR_IO8 (ddr) |= pin;
return 0;
}
int t4_servo_get (unsigned int channel)
{
if (channel >= SERVO_COUNT)
return -1;
return servo_channels [channel].duty;
}
int t4_servo_set (unsigned int channel, unsigned int duty)
{
if (channel >= SERVO_COUNT)
return -1;
if (duty > SERVO_MAX)
return -2;
if (duty < SERVO_MIN)
return -3;
servo_channels [channel].duty = duty;
return 0;
}
ISR (TIMER4_COMPA_vect, ISR_NOBLOCK)
{
unsigned char channel;
static unsigned int tick_count = 0;
cli ();
for (channel = 0; channel < SERVO_COUNT; channel ++)
{
if (tick_count < servo_channels [channel].duty)
{
// turn on
_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
_SFR_IO8 (servo_channels [channel].port) |= servo_channels [channel].pin;
}
else
{
// turn off
_SFR_IO8 (servo_channels [channel].port) &= ~(servo_channels [channel].pin);
_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
}
}
tick_count ++;
if (tick_count >= (SERVO_MAX + SERVO_OFFSET))
{
tick_count = 0;
}
sei();
}
/*
** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
**
** 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.
**
**++
** Name
** t4-servo
**
** Purpose
** Implements software pwm on any portpins via timer 4
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
** ««revision-date»»···
**--
*/
#include "t4-servo.h"
#include "t4-servo-config.h"
#include "t4-servo-hardware.h"
#include <avr/io.h>
#include <avr/interrupt.h>
// static servo_channel_type servo_channels [SERVO_COUNT];
// timer 4: CTC OCR4A
#define WGM4 0x4
void t4_servo_init (void)
{
unsigned char channel;
for (channel = 0; channel < SERVO_COUNT; channel ++)
{
_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
_SFR_IO8 (servo_channels [channel].port) &= ~(servo_channels [channel].pin);
}
cli ();
TCCR4A = 0x00;
TCCR4A_struct.wgm4 = WGM4 & 0x3;
TCCR4B_struct.wgm4 = (WGM4 & 0xc) >> 2;
TCCR4B_struct.cs4 = 0x1; // No prescaler
TCCR4C = 0x00;
OCR4A = (T4_VALUE);
TIMSK4_struct.ocie4a = 1;
TIMSK4_struct.toie4 = 1;
sei();
}
void t4_servo_off (void)
{
TIMSK4_struct.toie4 = 0;
TIMSK4_struct.ocie4a = 0;
}
int t4_servo_get (unsigned int channel)
{
if (channel >= SERVO_COUNT)
return -1;
//printf ("t4_servo_get: %d, %d\n", channel, servo_channels [channel].duty);
return servo_channels [channel].duty;
}
int t4_servo_set (unsigned int channel, unsigned char duty)
{
//printf ("t4_servo_set: %d, %d\n", channel, duty);
if (channel >= SERVO_COUNT)
return -1;
if (duty > SERVO_MAX)
return -2;
if (duty < SERVO_MIN)
return -3;
servo_channels [channel].duty = duty;
return 0;
}
ISR (TIMER4_COMPA_vect, ISR_NOBLOCK)
{
unsigned char channel;
static unsigned int tick_count = 0;
cli ();
for (channel = 0; channel < SERVO_COUNT; channel ++)
{
if (tick_count < servo_channels [channel].duty)
{
// turn on
// _SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
_SFR_IO8 (servo_channels [channel].port) |= servo_channels [channel].pin;
}
else
{
// turn off
_SFR_IO8 (servo_channels [channel].port) &= ~(servo_channels [channel].pin);
// _SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
}
}
tick_count ++;
if (tick_count >= (SERVO_MAX + SERVO_OFFSET))
{
tick_count = 0;
}
sei();
}

157
platform/osd-merkur/dev/t4-servo.h
View file

@ -1,96 +1,61 @@
/*
** Copyright (C) 2013 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
**
** 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.
**
**++
** Name
** t4-servo
**
** Purpose
** Implements software pwm on any portpins via timer 4
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** <EFBFBD><EFBFBD>revision-date<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
**--
*/
#ifndef __T4_SERVO_H__
#define __T4_SERVO_H__
// timing: (X:pwm, _:zero)
//
// X_______________XXXXXXXXXXXXX_______________XXXXXXXXXXXXX
//
// |<------------->|<--------->|<------------->|<--------->| ...
// SERVO_OFFSET SERVO_MAX SERVO_OFFSET SERVO_MAX
//
// within SERVO_MAX you get the PWM set with servo_set (id, pwm)
// if you set SERVO_OFFSET to zero, you get a pwm from 0 to 100% duty cycle
//
// the period of the smallest tick is derived from the timer4 prescaler
// plus the ISR overhead. however, the latter one should be constant
// regardless of the pwm signal generated
#define SERVO_OFFSET 256
#define SERVO_MIN 16
#define SERVO_MAX 32
// Counter value for timer 4 without any prescaler for a single tick
#define PWMFREQ 500
#define T4_VALUE F_CPU/SERVO_MAX/PWMFREQ
#define SERVO_COUNT 4
#define DEFAULT_PORT 0x0E
#define DEFAULT_PIN 1
#define DEFAULT_DDR 0x0D
typedef struct struct_servo_channel
{
unsigned char port;
unsigned char pin;
unsigned char ddr;
unsigned char duty;
} servo_channel_type;
void t4_servo_init(void);
void t4_servo_off(void);
int t4_servo_get(unsigned int channel);
int t4_servo_set(unsigned int channel, unsigned int duty);
int t4_servo_set_io
( unsigned char channel
, unsigned char port
, unsigned char ddr
, unsigned char pin
);
#endif /* __T4_SERVO_H__ */
/*
** Copyright (C) 2013-2014 Marcus Priesch, All rights reserved
** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
**
** 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.
**
**++
** Name
** t4-servo
**
** Purpose
** Implements software pwm on any portpins via timer 4
**
**
** Revision Dates
** 31-Mar-2013 (MPR) Creation
** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
««revision-date»»···
**--
*/
#ifndef __T4_SERVO_H__
#define __T4_SERVO_H__
typedef struct struct_servo_channel
{
unsigned char port;
unsigned char ddr;
unsigned char pin;
unsigned char duty;
} servo_channel_type;
void t4_servo_init(void);
void t4_servo_off(void);
int t4_servo_get(unsigned int channel);
int t4_servo_set(unsigned int channel, unsigned char duty);
#endif /* __T4_SERVO_H__ */