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137 lines
4.7 KiB
C
137 lines
4.7 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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* This file is part of the Contiki operating system.
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*
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*/
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/*---------------------------------------------------------------------------*/
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/**
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* \addtogroup zoul-sensors
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* @{
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*
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* \defgroup zoul-servo Generic servo driver
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*
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* Driver for a Generic Servo actuator
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*
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* @{
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*
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* \file
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* Header file 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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#ifndef SERVO_H_
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#define SERVO_H_
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#include <stdio.h>
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#include "dev/pwm.h"
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/* -------------------------------------------------------------------------- */
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/**
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* \name Servo default settings
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* @{
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*/
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/* -------------------------------------------------------------------------- */
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#ifndef SERVO_CONF_FREQ
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#define SERVO_DEFAULT_FREQ 50 /**< 50 Hz */
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#else
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#define SERVO_DEFAULT_FREQ SERVO_CONF_FREQ
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#endif
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#ifndef SERVO_CONF_MAX_DEGREES
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#define SERVO_MAX_DEGREES 180
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#else
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#define SERVO_MAX_DEGREES SERVO_CONF_MAX_DEGREES
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#endif
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#ifndef SERVO_CONF_MIN_VAL
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#define SERVO_MIN_VAL 9600 /**> roughly equals to 3% duty cycle */
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#else
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#define SERVO_MIN_VAL SERVO_CONF_MIN_VAL
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#endif
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#ifndef SERVO_CONF_MAX_VAL
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#define SERVO_MAX_VAL 38400 /**> roughly equals to 12% duty cycle */
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#else
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#define SERVO_MAX_VAL SERVO_CONF_MAX_VAL
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#endif
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/** @} */
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/* -------------------------------------------------------------------------- */
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/**
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* \name Servo general purpose timers mapping
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* @{
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*/
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#define SERVO_CHANNEL_1 0x001 /**< GPT0-B */
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#define SERVO_CHANNEL_2 0x100 /**< GPT1-A */
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#define SERVO_CHANNEL_3 0x101 /**< GPT1-B */
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#define SERVO_CHANNEL_4 0x200 /**< GPT2-A */
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#define SERVO_CHANNEL_5 0x201 /**< GPT2-B */
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#define SERVO_CHANNEL_6 0x300 /**< GPT3-A */
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#define SERVO_CHANNEL_7 0x301 /**< GPT3-B */
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/** @} */
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/* -------------------------------------------------------------------------- */
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/**
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* \name Servo general constants
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* @{
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*/
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#define SERVO_SUCCESS 0
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#define SERVO_ERROR (-1)
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/** @} */
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/* -------------------------------------------------------------------------- */
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/**
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* \name Servo public funtions
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* @{
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*/
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/** \brief Configures and positions a servo in a given position (by degrees)
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* The servo will lock its position as long as it is not stopped
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* \param gptab Servo channel (PWM GPT from 1-7)
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* \param port Port number to use as PWM
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* \param pin Pin number to use as PWM
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* \param pos Position to map the servo to (0-360º, integer)
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* \return \c SERVO_SUCCESS if successful, else \c SERVO_ERROR
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*/
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int servo_position(uint16_t gptab, uint8_t port, uint8_t pin, uint16_t pos);
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/** \brief Fully stop a servo and reconfigures back the pin/port as GPIO
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* \param gptab Servo channel (PWM GPT from 1-7)
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* \param port Port number to use as PWM
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* \param pin Pin number to use as PWM
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* \return \c SERVO_SUCCESS if successful, else \c SERVO_ERROR
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*/
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int servo_stop(uint16_t gptab, uint8_t port, uint8_t pin);
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/** @} */
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/* -------------------------------------------------------------------------- */
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#endif
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/* -------------------------------------------------------------------------- */
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/**
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* @}
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* @}
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*/
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