From b4a96cca3985cba6079d1b7a16f30aa43432a9b3 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 6 May 2011 01:55:49 +0200 Subject: digital/io-hub: add PWM --- digital/io-hub/src/common/pwm.avr.c | 133 +++++++++++++++++++++++++++++ digital/io-hub/src/common/pwm.h | 60 +++++++++++++ digital/io-hub/src/common/pwm.host.c | 109 +++++++++++++++++++++++ digital/io-hub/src/robospierre/Makefile | 5 +- digital/io-hub/src/robospierre/avrconfig.h | 8 ++ digital/io-hub/src/robospierre/main.c | 21 +++++ 6 files changed, 335 insertions(+), 1 deletion(-) create mode 100644 digital/io-hub/src/common/pwm.avr.c create mode 100644 digital/io-hub/src/common/pwm.h create mode 100644 digital/io-hub/src/common/pwm.host.c diff --git a/digital/io-hub/src/common/pwm.avr.c b/digital/io-hub/src/common/pwm.avr.c new file mode 100644 index 00000000..4b6ad896 --- /dev/null +++ b/digital/io-hub/src/common/pwm.avr.c @@ -0,0 +1,133 @@ +/* pwm.avr.c */ +/* io-hub - Modular Input/Output. {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * 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 "pwm.h" + +#include "modules/utils/utils.h" +#include "preproc.h" + +/** PWM context. */ +struct pwm_t +{ + /** Output compare register. */ + volatile uint16_t *ocr; + /** Direction port. */ + volatile uint8_t *dir_port; + /** Direction bit value. */ + uint8_t dir_bv; + /** Remaining time before timer elapse, 0 for disabled. */ + uint16_t time; + /** Value to be used after timer elapse. */ + int16_t value_rest; +}; + +/** Array of PWM contexts. */ +#define PWM(timer, pwm, pwm_io_port, pwm_io_n, dir_io_port, dir_io_n) \ +{ &PREPROC_PASTE (OCR, timer, pwm), \ + &IO_PORT_ (dir_io_port, dir_io_n), IO_BV_ (dir_io_port, dir_io_n), \ + 0, 0 }, +struct pwm_t pwm[] = { + AC_IOHUB_PWM +}; +#undef PWM + +void +pwm_init (void) +{ + /* Fast PWM, TOP = 0x3ff, with positive logic. + f_IO without prescaler. + Fpwm = f_IO / (prescaler * (1 + TOP)). */ + uint8_t timer_com_1 = 0, timer_com_3 = 0; +#define PWM(timer, pwm, pwm_io_port, pwm_io_n, dir_io_port, dir_io_n) \ + do { \ + PREPROC_PASTE (timer_com_, timer) |= \ + _BV (PREPROC_PASTE (COM, timer, pwm, 1)); \ + IO_DDR_ (pwm_io_port, pwm_io_n) |= IO_BV_ (pwm_io_port, pwm_io_n); \ + IO_DDR_ (dir_io_port, dir_io_n) |= IO_BV_ (dir_io_port, dir_io_n); \ + } while (0); + AC_IOHUB_PWM +#undef PWM + if (timer_com_1) + { + TCCR1A = timer_com_1 | + regv (COM1A1, COM1A0, COM1B1, COM1B0, COM1C1, COM1C0, WGM11, WGM10, + 0, 0, 0, 0, 0, 0, 1, 1); + TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10, + 0, 0, 0, 0, 1, 0, 0, 1); + } + if (timer_com_3) + { + TCCR3A = timer_com_3 | + regv (COM3A1, COM3A0, COM3B1, COM3B0, COM3C1, COM3C0, WGM31, WGM30, + 0, 0, 0, 0, 0, 0, 1, 1); + TCCR3B = regv (ICNC3, ICES3, 5, WGM33, WGM32, CS32, CS31, CS30, + 0, 0, 0, 0, 1, 0, 0, 1); + } +} + +void +pwm_update (void) +{ + uint8_t i; + for (i = 0; i < UTILS_COUNT (pwm); i++) + { + if (pwm[i].time) + { + pwm[i].time--; + if (pwm[i].time == 0) + pwm_set (i, pwm[i].value_rest); + } + } +} + +void +pwm_set (uint8_t index, int16_t value) +{ + assert (index < UTILS_COUNT (pwm)); + assert (value <= PWM_MAX && value >= -PWM_MAX); + pwm[index].time = 0; + if (value >= 0) + { + *pwm[index].dir_port &= ~pwm[index].dir_bv; + *pwm[index].ocr = value; + } + else + { + *pwm[index].dir_port |= pwm[index].dir_bv; + *pwm[index].ocr = -value; + } +} + +void +pwm_set_timed (uint8_t index, int16_t value, uint16_t time, int16_t value_rest) +{ + assert (index < UTILS_COUNT (pwm)); + assert (value <= PWM_MAX && value >= -PWM_MAX); + assert (value_rest <= PWM_MAX && value_rest >= -PWM_MAX); + pwm_set (index, value); + pwm[index].time = time; + pwm[index].value_rest = value_rest; +} + diff --git a/digital/io-hub/src/common/pwm.h b/digital/io-hub/src/common/pwm.h new file mode 100644 index 00000000..aff84b39 --- /dev/null +++ b/digital/io-hub/src/common/pwm.h @@ -0,0 +1,60 @@ +#ifndef pwm_h +#define pwm_h +/* pwm.h */ +/* io-hub - Modular Input/Output. {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * 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. + * + * }}} */ + +/** Handle PWM output with direction. Also handle timed PWM setting to apply + * a PWM value for a given number of update, then switch to a resting value. + * + * AC_IOHUB_PWM should be set to a list of space separated PWM macro call: + * + * PWM (timer, pwm, pwm_io_port, pwm_io_n, dir_io_port, dir_io_n) + * + * For example: + * + * PWM (1, A, B, 1, B, 2) => use output compare A on timer 1, PWM output on + * B1, direction on B2. */ + +/** Maximum positive value. */ +#define PWM_MAX 0x3ff + +/** Initialise PWM module. */ +void +pwm_init (void); + +/** Update PWM module (handle timed PWM). */ +void +pwm_update (void); + +/** Set PWM value for given PWM index. */ +void +pwm_set (uint8_t index, int16_t value); + +/** Set PWM value for given PWM index for a given time. After time elapsed, + * use a rest value. */ +void +pwm_set_timed (uint8_t index, int16_t value, uint16_t time, int16_t value_rest); + +#endif /* pwm_h */ diff --git a/digital/io-hub/src/common/pwm.host.c b/digital/io-hub/src/common/pwm.host.c new file mode 100644 index 00000000..f528522a --- /dev/null +++ b/digital/io-hub/src/common/pwm.host.c @@ -0,0 +1,109 @@ +/* pwm.host.c */ +/* io-hub - Modular Input/Output. {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * 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 "pwm.h" + +#include "modules/utils/utils.h" +#include "modules/host/host.h" +#include "modules/host/mex.h" + +/** PWM context. */ +struct pwm_t +{ + /** Current value. */ + int16_t value; + /** Remaining time before timer elapse, 0 for disabled. */ + uint16_t time; + /** Value to be used after timer elapse. */ + int16_t value_rest; +}; + +/** Array of PWM contexts. */ +#define PWM(timer, pwm, pwm_io_port, pwm_io_n, dir_io_port, dir_io_n) \ + { 0, 0, 0 }, +struct pwm_t pwm[] = { + AC_IOHUB_PWM +}; +#undef PWM + +/** Message type. */ +uint8_t pwm_mtype; + +/** Message has to be sent. */ +uint8_t pwm_changed; + +void +pwm_init (void) +{ + const char *mex_instance = host_get_instance ("io-hub0", 0); + pwm_mtype = mex_node_reservef ("%s:pwm", mex_instance); +} + +void +pwm_update (void) +{ + uint8_t i; + /* Update timed PWM. */ + for (i = 0; i < UTILS_COUNT (pwm); i++) + { + if (pwm[i].time) + { + pwm[i].time--; + if (pwm[i].time == 0) + pwm_set (i, pwm[i].value_rest); + } + } + /* Send change if needed. */ + if (pwm_changed) + { + mex_msg_t *m = mex_msg_new (pwm_mtype); + for (i = 0; i < UTILS_COUNT (pwm); i++) + mex_msg_push (m, "h", pwm[i].value); + mex_node_send (m); + pwm_changed = 0; + } +} + +void +pwm_set (uint8_t index, int16_t value) +{ + assert (index < UTILS_COUNT (pwm)); + assert (value <= PWM_MAX && value >= -PWM_MAX); + pwm[index].time = 0; + pwm[index].value = value; + pwm_changed = 1; +} + +void +pwm_set_timed (uint8_t index, int16_t value, uint16_t time, int16_t value_rest) +{ + assert (index < UTILS_COUNT (pwm)); + assert (value <= PWM_MAX && value >= -PWM_MAX); + assert (value_rest <= PWM_MAX && value_rest >= -PWM_MAX); + pwm_set (index, value); + pwm[index].time = time; + pwm[index].value_rest = value_rest; +} + 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): -- cgit v1.2.3