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-/* 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_;
- }
- }
- }
-}