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authorMaxime Hadjinlian2011-05-29 14:20:56 +0200
committerNicolas Schodet2011-05-29 14:20:56 +0200
commit2700442e8ecb331844687e349f5b20162a008b27 (patch)
treecfa705bfee61d849756022b2c9cbff59a6470bb0 /digital/io/src
parent13ad47d0242573e0212c328d38538d17e7e0fb2b (diff)
digital/avr/module: add module servo from digital/io/src
Diffstat (limited to 'digital/io/src')
-rw-r--r--digital/io/src/Makefile6
-rw-r--r--digital/io/src/avrconfig.h5
-rw-r--r--digital/io/src/eeprom.avr.c4
-rw-r--r--digital/io/src/main.c4
-rw-r--r--digital/io/src/servo.avr.c200
-rw-r--r--digital/io/src/servo.h96
-rw-r--r--digital/io/src/servo_pos.c60
-rw-r--r--digital/io/src/servo_pos.h73
-rw-r--r--digital/io/src/simu.host.c26
9 files changed, 25 insertions, 449 deletions
diff --git a/digital/io/src/Makefile b/digital/io/src/Makefile
index 463e148e..4ebc5a66 100644
--- a/digital/io/src/Makefile
+++ b/digital/io/src/Makefile
@@ -3,15 +3,15 @@ BASE = ../../avr
# Name of the program to build.
PROGS = io
# Sources to compile.
-io_SOURCES = main.c fsm_queue.c servo.avr.c eeprom.avr.c pwm.c \
- switch.avr.c chrono.c timer.avr.c servo_pos.c \
+io_SOURCES = main.c fsm_queue.c eeprom.avr.c pwm.c \
+ switch.avr.c chrono.c timer.avr.c \
twi_master.c asserv.c mimot.c \
simu.host.c contact.c radar.c radar_defs.c \
path.c food.c events.host.c \
fsm.host.c init.c move.c top.c hola.c loader.c fsm_AI_gen.avr.c
# Modules needed for IO.
MODULES = proto uart twi utils adc math/fixed math/geometry path/astar \
- devices/usdist \
+ devices/usdist devices/servo \
trace flash spi
AI_MODULES = twi_master common utils fsm move
# Configuration file.
diff --git a/digital/io/src/avrconfig.h b/digital/io/src/avrconfig.h
index a46b4abe..cb9061fd 100644
--- a/digital/io/src/avrconfig.h
+++ b/digital/io/src/avrconfig.h
@@ -129,6 +129,11 @@
USDIST_SENSOR (2, C, 7) \
USDIST_SENSOR (3, D, 4)
+/* servo - Servo module */
+/** All servos are currently connected to the same port. */
+#define AC_SERVO_PORT PORTA
+#define AC_SERVO_DDR DDRA
+
/* io - io/ai board. */
/** TWI address of the io board. */
#define AC_IO_TWI_ADDRESS 2
diff --git a/digital/io/src/eeprom.avr.c b/digital/io/src/eeprom.avr.c
index a32b9606..febba55c 100644
--- a/digital/io/src/eeprom.avr.c
+++ b/digital/io/src/eeprom.avr.c
@@ -26,8 +26,8 @@
#include "common.h"
#include "eeprom.h"
-#include "servo.h" /* SERVO_NUMBER */
-#include "servo_pos.h"
+#include "modules/devices/servo/servo.h"
+#include "modules/devices/servo/servo_pos.h"
#include <avr/eeprom.h> /* eeprom_{read,write}_byte */
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 016aad36..5aa35fb7 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -29,6 +29,7 @@
#include "modules/utils/utils.h"
#include "modules/path/path.h"
#include "modules/devices/usdist/usdist.h"
+#include "modules/devices/servo/servo_pos.h"
#include "modules/flash/flash.h"
#include "modules/trace/trace.h"
#include "events.h"
@@ -51,7 +52,6 @@
#include "fsm.h"
#include "fsm_queue.h"
#include "bot.h"
-#include "servo_pos.h"
#include "radar.h"
#include "chrono.h" /* chrono_end_match */
#include "pwm.h"
@@ -408,7 +408,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
* - 1b: servo id number;
* - 1b: pwm high time value (position).
*/
- servo_set_high_time (args[0], args[1]);
+ servo_set_position (args[0], args[1]);
break;
case c ('S', 0):
diff --git a/digital/io/src/servo.avr.c b/digital/io/src/servo.avr.c
deleted file mode 100644
index de50c819..00000000
--- a/digital/io/src/servo.avr.c
+++ /dev/null
@@ -1,200 +0,0 @@
-/* servo.avr.c */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2008 Dufour Jérémy
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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; either version 2 of the License, or
- * (at your option) any later version.
- *
- * 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 "common.h"
-#include "servo.h"
-
-#include "modules/utils/utils.h" /* regv, set_bit */
-#include "modules/utils/byte.h" /* v16_to_v8 */
-#include "io.h" /* General defines of registers */
-
-/**
- * @defgroup ServoConfig Servo module configuration variables and defines.
- * @{
- */
-
-/**
- * All servos are connected to the PORTA.
- */
-#define SERVO_PORT PORTA
-#define SERVO_DDR DDRA
-
-/**
- * TOP of the timer/counter.
- */
-#define SERVO_TCNT_TOP 0xFF
-
-/**
- * Number of TIC the timer/counter need to do to make a whole cycle of servo
- * update.
- * It does not depend on the servo motors we manage but on the time we want a
- * whole cycle to last.
- * The formula used is:
- * time_of_a_cycle * AVR_frequency / timer_counter_prescaler
- * We want a time of 20ms (20/1000).
- * See @a servo_init to know the prescaler value of the timer/counter.
- */
-static const uint16_t servo_tic_cycle_ = AC_FREQ / 256 * 20 / 1000;
-
-/** @} */
-
-/**
- * @defgroup ServoPrivate Servo module private variables and functions
- * declarations
- * @{
- */
-
-/**
- * Identifier of the servo we are currently updating.
- * Note: -1 is a special value used by the servo module system to update the
- * low state of all the servos.
- */
-volatile int8_t servo_updating_id_;
-
-/**
- * A table for the time spent by each servo in high state.
- */
-volatile uint8_t servo_high_time_[SERVO_NUMBER];
-
-/**
- * Overflow of timer/counter 2 handler.
- */
-SIGNAL (SIG_OVERFLOW2);
-
-/** @} */
-
-/* Initialize servo module. */
-void
-servo_init (void)
-{
- /* Set-up all the pins of the servo to out direction */
- SERVO_DDR = 0xff;
- /* All pins are at low state by default */
-
- /* Set-up the timer/counter 2:
- - prescaler 256 => 4.44 ms TOP */
- TCCR2 = regv (FOC2, WGM20, COM21, COM20, WGM21, CS22, CS21, CS20,
- 0, 0, 0, 0, 0, 1, 0, 0);
-
- /* The state machine start with the first servo */
- servo_updating_id_ = 0;
-
- /* Enable overflow interrupt */
- set_bit (TIMSK, TOIE2);
-
- /* By default, servo init disable all servo. */
- uint8_t i;
- for (i = 0; i < SERVO_NUMBER; i++)
- servo_set_high_time (i, 0);
-}
-
-/* Set the high time of the input signal of a servo (and its position). */
-void
-servo_set_high_time (uint8_t servo, uint8_t high_time)
-{
- uint8_t filtered = high_time;
- if (filtered != 0)
- UTILS_BOUND (filtered, SERVO_HIGH_TIME_MIN, SERVO_HIGH_TIME_MAX);
- /* Sanity check */
- if (servo < SERVO_NUMBER)
- /* Set new desired position (high value time) */
- servo_high_time_[servo] = filtered;
-}
-
-/* Get the high time of the servo. */
-uint8_t
-servo_get_high_time (uint8_t servo)
-{
- /* Sanity check */
- if (servo < SERVO_NUMBER)
- return servo_high_time_[servo];
- return 0;
-}
-
-/* Overflow of timer/counter 2 handler. */
-SIGNAL (SIG_OVERFLOW2)
-{
- /* Overflow count (used when we wait in the lower state).
- -1 is used for the first count where we wait less than a complete
- overflow */
- static int8_t servo_overflow_count = -1;
- /* Time spent by each servo motor at high state during a whole cycle */
- static uint16_t servo_high_time_cycle = servo_tic_cycle_;
-
- /* State machine actions */
- if (servo_updating_id_ >= 0)
- {
- /* Servos motor high state mode */
-
- /* Set to low state the previous servo motor pin if needed (not for
- * the first one) */
- if (servo_updating_id_ != 0)
- SERVO_PORT &= ~_BV (servo_updating_id_ - 1);
- /* Set to high state the current servo motor pin, unless is zero */
- if (servo_high_time_[servo_updating_id_])
- set_bit (SERVO_PORT, servo_updating_id_);
- /* Plan next timer overflow to the TOP minus the current configuration
- * of the servo motor */
- TCNT2 = SERVO_TCNT_TOP - servo_high_time_[servo_updating_id_];
- /* Update the time spent at high state by all servo motors for this
- * cycle */
- servo_high_time_cycle += servo_high_time_[servo_updating_id_];
- /* Update the identifier of the current servo motor (and manage when
- * we are at the last one) */
- if (++servo_updating_id_ == SERVO_NUMBER)
- servo_updating_id_ = -1;
- }
- else
- {
- /* Sleeping time mode */
-
- /* Is it the first we are in this mode? */
- if (servo_overflow_count == -1)
- {
- /* Set to low state the previous servo motor pin */
- SERVO_PORT &= ~_BV (SERVO_NUMBER - 1);
- /* Number of full overflow (from 0 to SERVO_TCNT_TOP) we need to
- * wait (division by SERVO_TCNT_TOP or >> 8) */
- servo_overflow_count = servo_high_time_cycle >> 8;
- /* Restart the counter from remaining TIC that are left and can
- * not be used to make a full overflow */
- TCNT2 = SERVO_TCNT_TOP - v16_to_v8 (servo_high_time_cycle, 0);
- }
- else
- {
- /* We just have an overflow, are we at the last one needed? The -1
- * is normal: we do not count the first overflow of the sleeping
- * mode because it is not a full one */
- if (--servo_overflow_count == -1)
- {
- /* Restart with first servo motor */
- servo_updating_id_ = 0;
- /* Re-initialize the counter of time spent by each servo motor
- * at high state */
- servo_high_time_cycle = servo_tic_cycle_;
- }
- }
- }
-}
diff --git a/digital/io/src/servo.h b/digital/io/src/servo.h
deleted file mode 100644
index b9f7e3ea..00000000
--- a/digital/io/src/servo.h
+++ /dev/null
@@ -1,96 +0,0 @@
-#ifndef servo_h
-#define servo_h
-/* servo.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2008 Dufour Jérémy
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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; either version 2 of the License, or
- * (at your option) any later version.
- *
- * 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 "common.h" // uint8_t
-
-/**
- * @file Module to control servo motors.
- * This module contains low-level functions to control the servo motors. If
- * you want to control the traps to store the balls at a specific place, have
- * a look at the trap module.
- * It uses the timer/counter 2 (8-bit).
- *
- * Servo motors can be controlled by the time the input signal spend at its
- * high state. For example, if the signal sent to the servo motor only spend
- * 1ms at the high state, it will have a 0° angle position. If the signal
- * stays for 1.5ms at high state, it will have a 90° angle position.
- * To manage all servo motors in a "one time shot", we need to use the
- * timer/counter 2 of the ATmega128 and its overflow.
- * We setup the timer/counter to the value of its overflow minus the time the
- * input signal of the servo need to spend at high state ; we put the input
- * signal of this servo motor to the high value. When the timer overflows, we
- * put it back to the low state. We go to the next servo motors and do the
- * same algorithm. When the all servos motor have been taken care of, we
- * set-up the timer to overflow a certain number of times to wait before
- * restarting the whole cycle.
- *
- * All servos are connected to the PORTA of the ATmega.
- */
-
-/**
- * Number of servos motor managed by this module.
- * If you change it, you _must_ update the key of the eeprom module!
- */
-#define SERVO_NUMBER 8
-
-/**
- * Minimum high time for servos.
- */
-#define SERVO_HIGH_TIME_MIN 0x24
-
-/**
- * Maximum high time for servos.
- */
-#define SERVO_HIGH_TIME_MAX 0x88
-
-/**
- * Initialize servo module.
- * This functions put the pins of the servos motor in the right direction,
- * initialize the timer/counter 2 and some internals stuff.
- */
-void
-servo_init (void);
-
-/**
- * Set the high time of the input signal of a servo (and its position).
- * @param servo the servo to change the position.
- * @param high_time the high time we want the input signal to spend at the
- * high state to set the servo motor to a position. A zero will let the servo
- * floating.
- */
-void
-servo_set_high_time (uint8_t servo, uint8_t high_time);
-
-/**
- * Get the high time of the servo.
- * @param servo the servo to get the position of.
- * @return the current position of the servo.
- */
-uint8_t
-servo_get_high_time (uint8_t servo);
-
-#endif /* servo_h */
diff --git a/digital/io/src/servo_pos.c b/digital/io/src/servo_pos.c
deleted file mode 100644
index d04077fd..00000000
--- a/digital/io/src/servo_pos.c
+++ /dev/null
@@ -1,60 +0,0 @@
-/* servo_pos.c */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2009 Dufour Jérémy
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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; either version 2 of the License, or
- * (at your option) any later version.
- *
- * 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 "servo_pos.h"
-
-uint8_t servo_pos_high_time[SERVO_NUMBER][SERVO_POS_NUMBER];
-
-void
-servo_pos_init (void)
-{
- /* Initialize under layer, servo module. */
- servo_init ();
-}
-
-void
-servo_pos_set_high_time (uint8_t servo_id,
- uint8_t high_times[SERVO_POS_NUMBER])
-{
- uint8_t i;
- /* If servo exists. */
- if (servo_id < SERVO_NUMBER)
- {
- /* For each position. */
- for (i = 0; i < SERVO_POS_NUMBER; i++)
- servo_pos_high_time[servo_id][i] = high_times[i];
- }
-}
-
-/**
- * Move a servo to a specific position.
- * @param servo_id the id of the servo to move.
- * @param position the position identifier where to move the servo.
- */
-void
-servo_pos_move_to (uint8_t servo_id, uint8_t position)
-{
- servo_set_high_time (servo_id, servo_pos_high_time[servo_id][position]);
-}
diff --git a/digital/io/src/servo_pos.h b/digital/io/src/servo_pos.h
deleted file mode 100644
index c8e56d2b..00000000
--- a/digital/io/src/servo_pos.h
+++ /dev/null
@@ -1,73 +0,0 @@
-#ifndef servo_pos_h
-#define servo_pos_h
-/* servo_pos.h */
-/* io - Input & Output with Artificial Intelligence (ai) support on AVR. {{{
- *
- * Copyright (C) 2009 Dufour Jérémy
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * 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; either version 2 of the License, or
- * (at your option) any later version.
- *
- * 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.
- *
- * }}} */
-
-/**
- * Module to control two positions of the servo motor.
- * It's an higher interface that uses the servo module but remember the
- * positions (for example, two positions, open and close) that they can take.
- */
-
-#include "servo.h"
-
-/**
- * Number of positions the servo can take.
- * @warning if you change this define, you must update the key value in the
- * EEPROM module. Otherwise, everything will fail!
- */
-#define SERVO_POS_NUMBER 2
-
-/**
- * Table to store the correspondence between the positions and the high time.
- */
-extern uint8_t servo_pos_high_time[SERVO_NUMBER][SERVO_POS_NUMBER];
-
-/**
- * Initialize the servo with positions module.
- * @note it also initialize the servo module for you.
- */
-void
-servo_pos_init (void);
-
-/**
- * Set the high times of a servo for positions.
- * @param servo_id the ID of the servo.
- * @param high_times the different high times for the positions of the
- * servo.
- */
-void
-servo_pos_set_high_time (uint8_t servo_id,
- uint8_t high_times[SERVO_POS_NUMBER]);
-
-/**
- * Move a servo to a specific position.
- * @param servo_id the id of the servo to move.
- * @param position the position identifier where to move the servo.
- */
-void
-servo_pos_move_to (uint8_t servo_id, uint8_t position);
-
-#endif /* servo_pos_h */
diff --git a/digital/io/src/simu.host.c b/digital/io/src/simu.host.c
index f1b7e0d2..a35b9d12 100644
--- a/digital/io/src/simu.host.c
+++ b/digital/io/src/simu.host.c
@@ -25,7 +25,7 @@
#include "common.h"
#include "simu.host.h"
-#include "servo.h"
+#include "modules/devices/servo/servo.h"
#include "pwm.h"
#include "modules/utils/utils.h"
@@ -36,10 +36,10 @@
#include "io.h"
/** Requested servo position. */
-uint8_t servo_high_time_[SERVO_NUMBER];
+uint8_t servo_position_[SERVO_NUMBER];
/** Current servo position. */
-uint8_t servo_high_time_current_[SERVO_NUMBER];
+uint8_t servo_position_current_[SERVO_NUMBER];
/** Servo speed is about 120 ms for 60 degrees. This means about 360 ms for
* the full swing. */
@@ -112,13 +112,13 @@ simu_step (void)
/* Update servos. */
for (i = 0; i < SERVO_NUMBER; i++)
{
- if (UTILS_ABS (servo_high_time_current_[i] - servo_high_time_[i]) <
+ if (UTILS_ABS (servo_position_current_[i] - servo_position_[i]) <
SERVO_SPEED)
- servo_high_time_current_[i] = servo_high_time_[i];
- else if (servo_high_time_current_[i] < servo_high_time_[i])
- servo_high_time_current_[i] += SERVO_SPEED;
+ servo_position_current_[i] = servo_position_[i];
+ else if (servo_position_current_[i] < servo_position_[i])
+ servo_position_current_[i] += SERVO_SPEED;
else
- servo_high_time_current_[i] -= SERVO_SPEED;
+ servo_position_current_[i] -= SERVO_SPEED;
}
/* Send servos. */
if (simu_servo_update && !--simu_servo_update_cpt)
@@ -126,7 +126,7 @@ simu_step (void)
simu_servo_update_cpt = simu_servo_update;
m = mex_msg_new (simu_mex_servo);
for (i = 0; i < SERVO_NUMBER; i++)
- mex_msg_push (m, "B", servo_high_time_current_[i]);
+ mex_msg_push (m, "B", servo_position_current_[i]);
mex_node_send (m);
}
/* Update switches. */
@@ -180,15 +180,15 @@ servo_init (void)
}
void
-servo_set_high_time (uint8_t servo, uint8_t high_time)
+servo_set_position (uint8_t servo, uint8_t position)
{
- servo_high_time_[servo] = high_time;
+ servo_position_[servo] = position;
}
uint8_t
-servo_get_high_time (uint8_t servo)
+servo_get_position (uint8_t servo)
{
- return servo_high_time_[servo];
+ return servo_position_[servo];
}
void