04bbba6c12
Rename guhRF platform to osd-merkur-256, previous osd-merkur platform is now osd-merkur-128. Also check that everything is consistent. Add both platforms to the regression tests. Move redundant files in platform dev directory of both platforms to cpu/avr/dev. Note that this probably needs some rework. Already discovered some inconsistency in io definitions of both devices in the avr/io.h includes. Added a workaround in the obvious cases. The platform makefiles now set correct parameters for bootloader and for reading mac-address from flash memory. Factor the flash programming into cpu/avr and platform/osd-merkur* and rework *all* osd example makefiles to use the new settings. Also update all the flash.sh and run.sh to use the new settings. The suli ledstrip modules (and osd example) have also been removed.
152 lines
4.4 KiB
C
152 lines
4.4 KiB
C
/*
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* Copyright (c) 2007, Swedish Institute of Computer Science
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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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* Device driver for the Sensirion SHT1x/SHT7x family of humidity and
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* temperature sensors.
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*/
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#include "contiki.h"
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#include <stdio.h>
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#include <dev/servo.h>
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#define DEBUG 0
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#if DEBUG
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#include <stdio.h>
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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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/*---------------------------------------------------------------------------*/
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/*
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* servo device
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*/
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unsigned int servoa=SERVO_INIT;
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unsigned int servob=SERVO_INIT;
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void
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servo_init(void)
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{
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// Port E initialization
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// Set Pin 3 and 4 to output mode for OCR1A and OCR2A
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DDRE |= 1<<3 | 1<<4;
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// Timer/Counter 3 initialization
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// Clock source: System Clock
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// Clock value: 2000.000 kHz
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// Mode: Ph. & fr. cor. PWM top=ICR1
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// OC3A output: Connected
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// OC3B output: Connected
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// OC3C output: Connected
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// Noise Canceler: Off
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// Input Capture on Falling Edge
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// Timer3 Overflow Interrupt: Off
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// Input Capture Interrupt: Off
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// Compare A Match Interrupt: Off
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// Compare B Match Interrupt: Off
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// Compare C Match Interrupt: Off
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/* TCCR3A = [COM3A1|COM3A0|COM3B1|COM3B0||FOC3A|FOC3B|WGM31|WGM30] */
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/* 1 0 1 0 1 0 0 0 */
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TCCR3A=0xA8;
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/* TCCR3B = [ ICNC3| ICES3| -| WGM33||WGM32| CS32| CS31| CS30] */
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/* 0 0 0 1 0 0 1 0 */
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TCCR3B=0x12;
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TCNT3H=0x00;
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TCNT3L=0x00;
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// ICR3 has a computed value of 20,000 - see the chip manual for how this
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// value was derived.
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// 20000 == 0x4e20 so that's what goes into the high and low byte of the ICR3 register
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// alternatively, Codevision would let you just do ICR3 = 20000;
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ICR3H=0x4E;
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ICR3L=0x20;
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// OCR3A will govern the steering servo, OCR3B will govern throttle
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OCR3A = servoa; // set it to an initial position somewhere in the middle of the 1 to 2ms range
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// OCR3A will govern the steering servo, OCR3B will govern throttle
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OCR3B = servob; // set it to an initial position somewhere in the middle of the 1 to 2ms range
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// start with motor off - no duty cycle at all
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OCR3CH=0x00;
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OCR3CL=0x00;
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}
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/*---------------------------------------------------------------------------*/
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/*
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* Power of device.
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*/
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void
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servo_off(void)
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{
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}
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/*---------------------------------------------------------------------------*/
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/*
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* get servo position
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*/
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unsigned int
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servo_get(unsigned int i)
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{
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if(i==0)
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return servoa;
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if(i==1)
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return servob;
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return 0;
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}
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/*---------------------------------------------------------------------------*/
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/*
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* Set servo position
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*/
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unsigned int
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servo_set(unsigned i,unsigned int j)
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{
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if(j > SERVO_MAX)
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j=SERVO_MAX;
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if(j < SERVO_MIN)
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j=SERVO_MIN;
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if(i==0)
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{
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servoa=j;
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OCR3A = servoa;
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return 1;
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}
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if(i==1)
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{
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servob=j;
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OCR3B = servob;
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return 1;
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}
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return 0;
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}
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