132 lines
4.5 KiB
C
132 lines
4.5 KiB
C
/*
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* Copyright (c) 2016, Zolertia - http://www.zolertia.com
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* All rights reserved.
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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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/*---------------------------------------------------------------------------*/
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/**
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* \addtogroup zoul-servo
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* @{
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*
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* \file
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* Driver for a generic Servo driver
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*
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* \author
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* Antonio Lignan <alinan@zolertia.com>
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*/
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/*---------------------------------------------------------------------------*/
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#include "contiki.h"
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#include "dev/pwm.h"
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#include "dev/gpio.h"
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#include "servo.h"
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/*---------------------------------------------------------------------------*/
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#define DEBUG 0
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#endif
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/*---------------------------------------------------------------------------*/
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int
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servo_position(uint16_t gptab, uint8_t port, uint8_t pin, uint16_t pos)
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{
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uint8_t gpt_num;
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uint8_t gpt_ab;
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uint32_t count = 0;
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if((gptab < SERVO_CHANNEL_1) && (gptab > SERVO_CHANNEL_7)) {
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PRINTF("Servo: invalid servo channel\n");
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return SERVO_ERROR;
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}
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/* CC2538 has 4 ports (A-D) and up to 8 pins (0-7) */
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if((port > GPIO_D_NUM) || (pin > 7)) {
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PRINTF("Servo: Invalid pin/port settings\n");
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return SERVO_ERROR;
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}
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if(pos > SERVO_MAX_DEGREES) {
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PRINTF("Servo: invalid position (max %u)\n", SERVO_MAX_DEGREES);
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return SERVO_ERROR;
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}
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count = (SERVO_MAX_VAL - SERVO_MIN_VAL) * pos;
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count /= SERVO_MAX_DEGREES;
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count += SERVO_MIN_VAL;
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gpt_num = (uint8_t)(gptab >> 8);
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gpt_ab = (uint8_t)(gptab & 0x00FF);
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PRINTF("Servo: F%uHz GPTNUM %u GPTAB %u --> %uº (%lu)\n", SERVO_DEFAULT_FREQ,
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gpt_num, gpt_ab,
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pos, count);
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/* Use count as argument instead of percentage */
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if(pwm_enable(SERVO_DEFAULT_FREQ, 0, count, gpt_num,gpt_ab) != PWM_SUCCESS) {
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PRINTF("Servo: failed to configure the pwm channel\n");
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return SERVO_ERROR;
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}
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/* Start the PWM as soon as possible, keep the pulses to lock the servo in the
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* given position
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*/
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if(pwm_start(gpt_num, gpt_ab, port, pin) != PWM_SUCCESS) {
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PRINTF("Servo: failed to initialize the pwm channel\n");
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return SERVO_ERROR;
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}
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return SERVO_SUCCESS;
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}
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/*---------------------------------------------------------------------------*/
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int
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servo_stop(uint16_t gptab, uint8_t port, uint8_t pin)
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{
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uint8_t gpt_num;
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uint8_t gpt_ab;
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if((gptab < SERVO_CHANNEL_1) && (gptab > SERVO_CHANNEL_7)) {
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PRINTF("Servo: invalid servo channel\n");
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return SERVO_ERROR;
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}
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/* CC2538 has 4 ports (A-D) and up to 8 pins (0-7) */
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if((port > GPIO_D_NUM) || (pin > 7)) {
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PRINTF("Servo: Invalid pin/port settings\n");
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return SERVO_ERROR;
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}
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gpt_num = (uint8_t)((gptab & 0xFF00) >> 8);
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gpt_ab = (uint8_t)(gptab & 0x00FF);
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if(pwm_disable(gpt_num, gpt_ab, port, pin) != PWM_SUCCESS) {
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PRINTF("Servo: unable to disable the pwm channel\n");
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return SERVO_ERROR;
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}
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return SERVO_SUCCESS;
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}
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/*---------------------------------------------------------------------------*/
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/** @} */
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