1 files changed, 118 insertions, 0 deletions
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]);
+}