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.
139 lines
4.1 KiB
C
139 lines
4.1 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
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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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** 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 "t4-servo.h"
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#include "t4-servo-config.h"
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#include "t4-servo-hardware.h"
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#include <avr/io.h>
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#include <avr/interrupt.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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_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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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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TIMSK4_struct.toie4 = 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.toie4 = 0;
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TIMSK4_struct.ocie4a = 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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//printf ("t4_servo_get: %d, %d\n", channel, servo_channels [channel].duty);
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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 char duty)
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{
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//printf ("t4_servo_set: %d, %d\n", channel, duty);
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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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