151 lines
4.2 KiB
C
151 lines
4.2 KiB
C
/*
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** Copyright (C) 2013 Marcus Priesch, All rights reserved
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** In Prandnern 31, A--2122 Riedenthal, Austria. office@priesch.co.at
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**
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** Redistribution and use in source and binary forms, with or without
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** modification, are permitted provided that the following conditions
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** are met:
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** 1. Redistributions of source code must retain the above copyright
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** notice, this list of conditions and the following disclaimer.
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** 2. Redistributions in binary form must reproduce the above copyright
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** notice, this list of conditions and the following disclaimer in the
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** documentation and/or other materials provided with the distribution.
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** 3. Neither the name of the Institute nor the names of its contributors
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** may be used to endorse or promote products derived from this software
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** without specific prior written permission.
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**
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** THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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** ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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** ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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** OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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** HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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** LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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** OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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** SUCH DAMAGE.
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**
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**++
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** Name
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** t4-servo
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**
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** Purpose
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** Implements software pwm on any portpins via timer 4
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**
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**
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** Revision Dates
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** 31-Mar-2013 (MPR) Creation
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** <20><>revision-date<74><65><EFBFBD><EFBFBD><EFBFBD>
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**--
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*/
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#include "t4-servo.h"
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "led.h"
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static servo_channel_type servo_channels [SERVO_COUNT];
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// timer 4: CTC OCR4A
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#define WGM4 0x4
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void t4_servo_init (void)
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{
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unsigned char channel;
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for (channel = 0; channel < SERVO_COUNT; channel ++)
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{
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servo_channels [channel].duty = SERVO_MAX/2;
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t4_servo_set_io (channel, DEFAULT_PORT, DEFAULT_DDR, DEFAULT_PIN);
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}
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cli ();
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TCCR4A = 0x00;
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TCCR4A_struct.wgm4 = WGM4 & 0x3;
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TCCR4B_struct.wgm4 = (WGM4 & 0xc) >> 2;
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TCCR4B_struct.cs4 = 0x1; // No prescaler
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TCCR4C = 0x00;
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OCR4A = T4_VALUE;
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TIMSK4_struct.ocie4a = 1;
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sei();
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}
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void t4_servo_off (void)
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{
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TIMSK4_struct.ocie4a = 0;
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}
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int t4_servo_set_io
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( unsigned char channel
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, unsigned char port
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, unsigned char ddr
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, unsigned char pin
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)
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{
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if (channel >= SERVO_COUNT)
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return -1;
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servo_channels [channel].port = port;
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servo_channels [channel].ddr = ddr;
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servo_channels [channel].pin = 1 << pin;
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_SFR_IO8 (ddr) |= pin;
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return 0;
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}
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int t4_servo_get (unsigned int channel)
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{
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if (channel >= SERVO_COUNT)
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return -1;
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return servo_channels [channel].duty;
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}
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int t4_servo_set (unsigned int channel, unsigned int duty)
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{
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if (channel >= SERVO_COUNT)
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return -1;
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if (duty > SERVO_MAX)
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return -2;
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if (duty < SERVO_MIN)
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return -3;
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servo_channels [channel].duty = duty;
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return 0;
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}
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ISR (TIMER4_COMPA_vect, ISR_NOBLOCK)
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{
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unsigned char channel;
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static unsigned int tick_count = 0;
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cli ();
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for (channel = 0; channel < SERVO_COUNT; channel ++)
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{
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if (tick_count < servo_channels [channel].duty)
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{
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// turn on
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_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
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_SFR_IO8 (servo_channels [channel].port) |= servo_channels [channel].pin;
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}
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else
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{
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// turn off
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_SFR_IO8 (servo_channels [channel].port) &= ~(servo_channels [channel].pin);
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_SFR_IO8 (servo_channels [channel].ddr ) |= servo_channels [channel].pin;
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}
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}
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tick_count ++;
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if (tick_count >= (SERVO_MAX + SERVO_OFFSET))
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{
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tick_count = 0;
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}
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sei();
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}
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