From 2700442e8ecb331844687e349f5b20162a008b27 Mon Sep 17 00:00:00 2001 From: Maxime Hadjinlian Date: Sun, 29 May 2011 14:20:56 +0200 Subject: digital/avr/module: add module servo from digital/io/src --- digital/io/src/Makefile | 6 +- digital/io/src/avrconfig.h | 5 ++ digital/io/src/eeprom.avr.c | 4 +- digital/io/src/main.c | 4 +- digital/io/src/servo.avr.c | 200 -------------------------------------------- digital/io/src/servo.h | 96 --------------------- digital/io/src/servo_pos.c | 60 ------------- digital/io/src/servo_pos.h | 73 ---------------- digital/io/src/simu.host.c | 26 +++--- 9 files changed, 25 insertions(+), 449 deletions(-) delete mode 100644 digital/io/src/servo.avr.c delete mode 100644 digital/io/src/servo.h delete mode 100644 digital/io/src/servo_pos.c delete mode 100644 digital/io/src/servo_pos.h (limited to 'digital/io') 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 /* 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 -- cgit v1.2.3