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authorNicolas Schodet2011-05-06 01:55:49 +0200
committerNicolas Schodet2011-05-06 01:55:49 +0200
commitb4a96cca3985cba6079d1b7a16f30aa43432a9b3 (patch)
tree266aca5a8ce118a3934507ba5495a3d009588437 /digital/io-hub/src/robospierre
parentff7505c0a9d6b5332db32ae9b23326bc466f0b01 (diff)
digital/io-hub: add PWM
Diffstat (limited to 'digital/io-hub/src/robospierre')
-rw-r--r--digital/io-hub/src/robospierre/Makefile5
-rw-r--r--digital/io-hub/src/robospierre/avrconfig.h8
-rw-r--r--digital/io-hub/src/robospierre/main.c21
3 files changed, 33 insertions, 1 deletions
diff --git a/digital/io-hub/src/robospierre/Makefile b/digital/io-hub/src/robospierre/Makefile
index 768fe9a4..9d0035fe 100644
--- a/digital/io-hub/src/robospierre/Makefile
+++ b/digital/io-hub/src/robospierre/Makefile
@@ -4,6 +4,7 @@ BASE = ../../../avr
PROGS = io_hub
# Sources to compile.
io_hub_SOURCES = main.c \
+ pwm.avr.c pwm.host.c \
twi_master.c asserv.c mimot.c \
chrono.c timer.avr.c simu.host.c
# Modules needed for IO.
@@ -17,8 +18,10 @@ AVR_MCU = at90usb1287
OPTIMIZE = -O2
HOST_LIBS = -lm
+vpath %.c ../common
+vpath %.h ../common
vpath %.c $(AI_MODULES:%=../../../ai/src/%)
vpath %.h $(AI_MODULES:%=../../../ai/src/%)
-INCLUDES += -I. $(AI_MODULES:%=-I../../../ai/src/%)
+INCLUDES += -I. -I../common $(AI_MODULES:%=-I../../../ai/src/%)
include $(BASE)/make/Makefile.gen
diff --git a/digital/io-hub/src/robospierre/avrconfig.h b/digital/io-hub/src/robospierre/avrconfig.h
index 11635646..0fc2f11d 100644
--- a/digital/io-hub/src/robospierre/avrconfig.h
+++ b/digital/io-hub/src/robospierre/avrconfig.h
@@ -103,5 +103,13 @@
/* io-hub - io/ai board. */
/** TWI address of the io board. */
#define AC_IO_TWI_ADDRESS 10
+/** PWM setting. */
+#define AC_IOHUB_PWM \
+ PWM (1, A, B, 5, D, 4) \
+ PWM (1, B, B, 6, D, 5) \
+ PWM (1, C, B, 7, D, 6) \
+ PWM (3, A, C, 6, C, 7) \
+ PWM (3, B, C, 5, C, 3) \
+ PWM (3, C, C, 4, C, 2)
#endif /* avrconfig_h */
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 5a987240..c0937615 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -36,6 +36,8 @@
#include "mimot.h"
#include "twi_master.h"
+#include "pwm.h"
+
#include "io.h"
/** Our color. */
@@ -58,6 +60,8 @@ main_init (void)
asserv_init ();
mimot_init ();
twi_master_init ();
+ /* IO modules. */
+ pwm_init ();
/* Initialization done. */
proto_send0 ('z');
}
@@ -88,6 +92,8 @@ main_loop (void)
/* Handle commands from UART. */
while (uart0_poll ())
proto_accept (uart0_getc ());
+ /* Update IO modules. */
+ pwm_update ();
/* Only manage events if slaves are synchronised. */
if (twi_master_sync ())
main_event_to_fsm ();
@@ -116,6 +122,21 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Reset */
utils_reset ();
break;
+ case c ('w', 4):
+ /* Set PWM.
+ * - 1w: index.
+ * - 1w: value. */
+ pwm_set (v8_to_v16 (args[0], args[1]), v8_to_v16 (args[2], args[3]));
+ break;
+ case c ('w', 8):
+ /* Set timed PWM.
+ * - 1w: index.
+ * - 1w: value.
+ * - 1w: time.
+ * - 1w: rest value. */
+ pwm_set_timed (v8_to_v16 (args[0], args[1]), v8_to_v16 (args[2], args[3]),
+ v8_to_v16 (args[4], args[5]), v8_to_v16 (args[6], args[7]));
+ break;
/* Stats commands.
* - b: interval between stats. */
case c ('A', 1):