diff options
| -rw-r--r-- | src/detherm/Makefile | 1 | ||||
| -rw-r--r-- | src/detherm/ao_detherm.c | 2 | ||||
| -rw-r--r-- | src/detherm/ao_pins.h | 16 | ||||
| -rw-r--r-- | src/drivers/ao_servo.c | 118 | ||||
| -rw-r--r-- | src/drivers/ao_servo.h | 41 |
5 files changed, 174 insertions, 4 deletions
diff --git a/src/detherm/Makefile b/src/detherm/Makefile index 35df6c96..6b0e0bf8 100644 --- a/src/detherm/Makefile +++ b/src/detherm/Makefile @@ -42,6 +42,7 @@ ALTOS_SRC = \ ao_ms5607.c \ ao_convert_pa.c \ ao_pwm.c \ + ao_servo.c \ ao_task.c \ ao_config.c \ ao_cmd.c \ diff --git a/src/detherm/ao_detherm.c b/src/detherm/ao_detherm.c index 64dee586..fba9195e 100644 --- a/src/detherm/ao_detherm.c +++ b/src/detherm/ao_detherm.c @@ -18,6 +18,7 @@ #include <ao.h> #include <ao_exti.h> #include <ao_pwm.h> +#include <ao_servo.h> void main(void) { @@ -38,6 +39,7 @@ void main(void) ao_ms5607_init(); // ao_flight_init(); ao_pwm_init(); + ao_servo_init(); ao_log_init(); ao_report_init(); ao_config_init(); diff --git a/src/detherm/ao_pins.h b/src/detherm/ao_pins.h index 8cd4a9c4..1c577b6e 100644 --- a/src/detherm/ao_pins.h +++ b/src/detherm/ao_pins.h @@ -98,10 +98,18 @@ #define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM3EN #define AO_PWM_TIMER_SCALE 32 -/* Motor */ +/* Servo */ -#define AO_MOTOR_DIR_GPIO (&stm_gpiob) -#define AO_MOTOR_DIR_PIN 0 -#define AO_MOTOR_SPEED_PWM 0 +#define AO_SERVO_DIR_PORT (&stm_gpiob) +#define AO_SERVO_DIR_BIT 0 +#define AO_SERVO_SPEED_PWM 0 + +/* limit 2 */ +#define AO_SERVO_LIMIT_FORE_PORT (&stm_gpiob) +#define AO_SERVO_LIMIT_FORE_BIT 6 + +/* limit 1 */ +#define AO_SERVO_LIMIT_BACK_PORT (&stm_gpiob) +#define AO_SERVO_LIMIT_BACK_BIT 7 #endif /* _AO_PINS_H_ */ diff --git a/src/drivers/ao_servo.c b/src/drivers/ao_servo.c new file mode 100644 index 00000000..b48a4112 --- /dev/null +++ b/src/drivers/ao_servo.c @@ -0,0 +1,118 @@ +/* + * Copyright © 2016 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include "ao.h" +#include "ao_servo.h" +#include "ao_pwm.h" +#include "ao_exti.h" + +static uint8_t limit_wakeup; + +static void +ao_limit_isr(void) +{ + ao_wakeup(&limit_wakeup); +} + +static void +ao_limit_enable(uint8_t dir) +{ + if (dir == AO_SERVO_FORE) + ao_exti_enable(AO_SERVO_LIMIT_FORE_PORT, AO_SERVO_LIMIT_FORE_BIT); + else + ao_exti_enable(AO_SERVO_LIMIT_BACK_PORT, AO_SERVO_LIMIT_BACK_BIT); +} + +static void +ao_limit_disable(uint8_t dir) +{ + if (dir == AO_SERVO_FORE) + ao_exti_disable(AO_SERVO_LIMIT_FORE_PORT, AO_SERVO_LIMIT_FORE_BIT); + else + ao_exti_disable(AO_SERVO_LIMIT_BACK_PORT, AO_SERVO_LIMIT_BACK_BIT); +} + +static uint8_t +ao_limit_get(uint8_t dir) +{ + if (dir == AO_SERVO_FORE) + return !ao_gpio_get(AO_SERVO_LIMIT_FORE_PORT, AO_SERVO_LIMIT_FORE_BIT, PIN); + else + return !ao_gpio_get(AO_SERVO_LIMIT_BACK_PORT, AO_SERVO_LIMIT_BACK_BIT, PIN); +} + +void +ao_servo_run(uint16_t speed, uint8_t dir, uint16_t timeout) +{ + printf ("speed %d dir %d\n", speed, dir); + + /* Turn on the motor */ + ao_gpio_set(AO_SERVO_DIR_PORT, AO_SERVO_DIR_BIT, AO_SERVO_DIR_PIN, dir); + ao_pwm_set(AO_SERVO_SPEED_PWM, speed); + + /* Wait until the limit sensor is triggered */ + ao_arch_block_interrupts(); + ao_limit_enable(dir); + while (!ao_limit_get(dir)) + if (ao_sleep_for(&limit_wakeup, timeout)) + break; + ao_limit_disable(dir); + ao_arch_release_interrupts(); + + /* Turn off the motor */ + ao_pwm_set(AO_SERVO_SPEED_PWM, 0); +} + +#define init_limit(p,b) do { \ + ao_enable_port(p); \ + ao_exti_setup(p, b, \ + AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED, \ + ao_limit_isr); \ + } while (0) + + +static void +ao_servo_cmd(void) +{ + uint8_t dir; + uint16_t speed; + + ao_cmd_decimal(); + dir = ao_cmd_lex_u32; + ao_cmd_decimal(); + speed = ao_cmd_lex_u32; + if (ao_cmd_status != ao_cmd_success) + return; + + printf("Run servo %d\n", dir); + ao_servo_run(speed, dir, AO_MS_TO_TICKS(200)); +} + +static const struct ao_cmds ao_servo_cmds[] = { + { ao_servo_cmd, "S <dir> <speed>\0Run servo in indicated direction" }, + { 0, NULL }, +}; + + +void +ao_servo_init(void) +{ + init_limit(AO_SERVO_LIMIT_FORE_PORT, AO_SERVO_LIMIT_FORE_BIT); + init_limit(AO_SERVO_LIMIT_BACK_PORT, AO_SERVO_LIMIT_BACK_BIT); + ao_enable_output(AO_SERVO_DIR_PORT, AO_SERVO_DIR_BIT, AO_SERVO_DIR_PIN, 0); + ao_cmd_register(&ao_servo_cmds[0]); +} diff --git a/src/drivers/ao_servo.h b/src/drivers/ao_servo.h new file mode 100644 index 00000000..e1df347a --- /dev/null +++ b/src/drivers/ao_servo.h @@ -0,0 +1,41 @@ +/* + * Copyright © 2016 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#ifndef _AO_SERVO_H_ +#define _AO_SERVO_H_ + +void +ao_servo_run(uint16_t speed, uint8_t dir, uint16_t timeout); + +void +ao_servo_init(void); + +#define AO_SERVO_FORE 0 +#define AO_SERVO_BACK 1 + +/* To configure the servo: + * + * #define AO_SERVO_PWM <pwm index> + * #define AO_SERVO_DIR_PORT <gpio> + * #define AO_SERVO_DIR_PIN <pin> + * #define AO_SERVO_LIMIT_FORE_PORT <gpio> + * #define AO_SERVO_LIMIT_FORE_PIN <pin> + * #define AO_SERVO_LIMIT_BACK_PORT <gpio> + * #define AO_SERVO_LIMIT_BACK_PIN <pin> + */ + +#endif /* _AO_SERVO_H_ */ |