contiki/platform/zoul/dev/servo.h
2016-08-24 14:27:41 +02:00

137 lines
4.7 KiB
C

/*
* Copyright (c) 2016, Zolertia - http://www.zolertia.com
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* This file is part of the Contiki operating system.
*
*/
/*---------------------------------------------------------------------------*/
/**
* \addtogroup zoul-sensors
* @{
*
* \defgroup zoul-servo Generic servo driver
*
* Driver for a Generic Servo actuator
*
* @{
*
* \file
* Header file for a Generic Servo driver
*
* \author
* Antonio Lignan <alinan@zolertia.com>
*/
/*---------------------------------------------------------------------------*/
#ifndef SERVO_H_
#define SERVO_H_
#include <stdio.h>
#include "dev/pwm.h"
/* -------------------------------------------------------------------------- */
/**
* \name Servo default settings
* @{
*/
/* -------------------------------------------------------------------------- */
#ifndef SERVO_CONF_FREQ
#define SERVO_DEFAULT_FREQ 50 /**< 50 Hz */
#else
#define SERVO_DEFAULT_FREQ SERVO_CONF_FREQ
#endif
#ifndef SERVO_CONF_MAX_DEGREES
#define SERVO_MAX_DEGREES 180
#else
#define SERVO_MAX_DEGREES SERVO_CONF_MAX_DEGREES
#endif
#ifndef SERVO_CONF_MIN_VAL
#define SERVO_MIN_VAL 9600 /**> roughly equals to 3% duty cycle */
#else
#define SERVO_MIN_VAL SERVO_CONF_MIN_VAL
#endif
#ifndef SERVO_CONF_MAX_VAL
#define SERVO_MAX_VAL 38400 /**> roughly equals to 12% duty cycle */
#else
#define SERVO_MAX_VAL SERVO_CONF_MAX_VAL
#endif
/** @} */
/* -------------------------------------------------------------------------- */
/**
* \name Servo general purpose timers mapping
* @{
*/
#define SERVO_CHANNEL_1 0x001 /**< GPT0-B */
#define SERVO_CHANNEL_2 0x100 /**< GPT1-A */
#define SERVO_CHANNEL_3 0x101 /**< GPT1-B */
#define SERVO_CHANNEL_4 0x200 /**< GPT2-A */
#define SERVO_CHANNEL_5 0x201 /**< GPT2-B */
#define SERVO_CHANNEL_6 0x300 /**< GPT3-A */
#define SERVO_CHANNEL_7 0x301 /**< GPT3-B */
/** @} */
/* -------------------------------------------------------------------------- */
/**
* \name Servo general constants
* @{
*/
#define SERVO_SUCCESS 0
#define SERVO_ERROR (-1)
/** @} */
/* -------------------------------------------------------------------------- */
/**
* \name Servo public funtions
* @{
*/
/** \brief Configures and positions a servo in a given position (by degrees)
* The servo will lock its position as long as it is not stopped
* \param gptab Servo channel (PWM GPT from 1-7)
* \param port Port number to use as PWM
* \param pin Pin number to use as PWM
* \param pos Position to map the servo to (0-360º, integer)
* \return \c SERVO_SUCCESS if successful, else \c SERVO_ERROR
*/
int servo_position(uint16_t gptab, uint8_t port, uint8_t pin, uint16_t pos);
/** \brief Fully stop a servo and reconfigures back the pin/port as GPIO
* \param gptab Servo channel (PWM GPT from 1-7)
* \param port Port number to use as PWM
* \param pin Pin number to use as PWM
* \return \c SERVO_SUCCESS if successful, else \c SERVO_ERROR
*/
int servo_stop(uint16_t gptab, uint8_t port, uint8_t pin);
/** @} */
/* -------------------------------------------------------------------------- */
#endif
/* -------------------------------------------------------------------------- */
/**
* @}
* @}
*/