102 lines
3 KiB
C
102 lines
3 KiB
C
/*
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** Copyright (C) 2013-2014 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-sensor
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**
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** Purpose
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** Implements a sensor around t4servo.c
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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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** 12-Mar-2014 (MPR) Factored to support configurable amount of pwm's
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** ««revision-date»»···
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**--
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*/
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#include "contiki.h"
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#include "dev/t4-servo.h"
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#include "dev/t4-servo-sensor.h"
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const struct sensors_sensor t4_servo_sensor;
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static int status(int type);
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static int enabled = 0;
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static int value (int channel)
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{
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if (channel >= SERVO_COUNT)
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return -1;
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else if (channel < 0)
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return -2;
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else
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return t4_servo_get (channel);
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}
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static int configure (int type, int c) // type, c: SENSORS_ACTIVE, 1 -> act.
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// type, c: SENSORS_ACTIVE, 0 -> deact.
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{
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switch (type)
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{
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case SENSORS_ACTIVE :
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if (c == 0)
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{
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t4_servo_off ();
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}
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else if (c == 1)
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{
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t4_servo_init ();
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}
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break;
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default :
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if (type >= SERVO_COUNT)
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return -1;
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else
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t4_servo_set (type, c);
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break;
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}
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return 0;
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}
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static int status(int type)
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{
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switch (type)
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{
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case SENSORS_ACTIVE:
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case SENSORS_READY:
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return enabled;
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}
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return 0;
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}
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SENSORS_SENSOR(t4_servo_sensor, T4_SENSOR_NAME, value, configure, status);
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