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/*
* 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]);
}
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