altos/detherm: Add servo driver

This just provides commands to test the servo with.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/detherm/Makefile b/src/detherm/Makefile
index 35df6c9670ba980a00f9455295e54ced5e8d00fc..6b0e0bf8767b749d0f2f2d15023a5d18e2df278e 100644 (file)
--- a/src/detherm/Makefile
+++ b/src/detherm/Makefile
@@ -42,6 +42,7 @@ ALTOS_SRC = \
        ao_ms5607.c \
        ao_convert_pa.c \
        ao_pwm.c \
+       ao_servo.c \
        ao_task.c \
        ao_config.c \
        ao_cmd.c \

diff --git a/src/detherm/ao_detherm.c b/src/detherm/ao_detherm.c
index 64dee586225e328dda546a7510901b246d517b11..fba9195e7aaf135732c7a0ba4c3a5e0d978968e8 100644 (file)
--- a/src/detherm/ao_detherm.c
+++ b/src/detherm/ao_detherm.c
@@ -18,6 +18,7 @@
 #include <ao.h>
 #include <ao_exti.h>
 #include <ao_pwm.h>
+#include <ao_servo.h>
 
 void main(void)
 {
@@ -38,6 +39,7 @@ void main(void)
        ao_ms5607_init();
 //     ao_flight_init();
        ao_pwm_init();
+       ao_servo_init();
        ao_log_init();
        ao_report_init();
        ao_config_init();

diff --git a/src/detherm/ao_pins.h b/src/detherm/ao_pins.h
index 8cd4a9c45a36aa671645268176de16e9ad81f853..1c577b6ee6b47083436d8f51478575c3afc7ae01 100644 (file)
--- a/src/detherm/ao_pins.h
+++ b/src/detherm/ao_pins.h
@@ -98,10 +98,18 @@
 #define AO_PWM_TIMER_ENABLE    STM_RCC_APB1ENR_TIM3EN
 #define AO_PWM_TIMER_SCALE     32
 
-/* Motor */
+/* Servo */
 
-#define AO_MOTOR_DIR_GPIO      (&stm_gpiob)
-#define AO_MOTOR_DIR_PIN       0
-#define AO_MOTOR_SPEED_PWM     0
+#define AO_SERVO_DIR_PORT      (&stm_gpiob)
+#define AO_SERVO_DIR_BIT       0
+#define AO_SERVO_SPEED_PWM     0
+
+/* limit 2 */
+#define AO_SERVO_LIMIT_FORE_PORT       (&stm_gpiob)
+#define AO_SERVO_LIMIT_FORE_BIT                6
+
+/* limit 1 */
+#define AO_SERVO_LIMIT_BACK_PORT       (&stm_gpiob)
+#define AO_SERVO_LIMIT_BACK_BIT                7
 
 #endif /* _AO_PINS_H_ */

diff --git a/src/drivers/ao_servo.c b/src/drivers/ao_servo.c
new file mode 100644 (file)
index 0000000..b48a411
--- /dev/null
+++ b/src/drivers/ao_servo.c
@@ -0,0 +1,118 @@
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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 "ao.h"
+#include "ao_servo.h"
+#include "ao_pwm.h"
+#include "ao_exti.h"
+
+static uint8_t limit_wakeup;
+
+static void
+ao_limit_isr(void)
+{
+       ao_wakeup(&limit_wakeup);
+}
+
+static void
+ao_limit_enable(uint8_t dir)
+{
+       if (dir == AO_SERVO_FORE)
+               ao_exti_enable(AO_SERVO_LIMIT_FORE_PORT, AO_SERVO_LIMIT_FORE_BIT);
+       else
+               ao_exti_enable(AO_SERVO_LIMIT_BACK_PORT, AO_SERVO_LIMIT_BACK_BIT);
+}
+
+static void
+ao_limit_disable(uint8_t dir)
+{
+       if (dir == AO_SERVO_FORE)
+               ao_exti_disable(AO_SERVO_LIMIT_FORE_PORT, AO_SERVO_LIMIT_FORE_BIT);
+       else
+               ao_exti_disable(AO_SERVO_LIMIT_BACK_PORT, AO_SERVO_LIMIT_BACK_BIT);
+}
+
+static uint8_t
+ao_limit_get(uint8_t dir)
+{
+       if (dir == AO_SERVO_FORE)
+               return !ao_gpio_get(AO_SERVO_LIMIT_FORE_PORT, AO_SERVO_LIMIT_FORE_BIT, PIN);
+       else
+               return !ao_gpio_get(AO_SERVO_LIMIT_BACK_PORT, AO_SERVO_LIMIT_BACK_BIT, PIN);
+}
+
+void
+ao_servo_run(uint16_t speed, uint8_t dir, uint16_t timeout)
+{
+       printf ("speed %d dir %d\n", speed, dir);
+
+       /* Turn on the motor */
+       ao_gpio_set(AO_SERVO_DIR_PORT, AO_SERVO_DIR_BIT, AO_SERVO_DIR_PIN, dir);
+       ao_pwm_set(AO_SERVO_SPEED_PWM, speed);
+
+       /* Wait until the limit sensor is triggered */
+       ao_arch_block_interrupts();
+       ao_limit_enable(dir);
+       while (!ao_limit_get(dir))
+               if (ao_sleep_for(&limit_wakeup, timeout))
+                       break;
+       ao_limit_disable(dir);
+       ao_arch_release_interrupts();
+
+       /* Turn off the motor */
+       ao_pwm_set(AO_SERVO_SPEED_PWM, 0);
+}
+
+#define init_limit(p,b) do {                                           \
+               ao_enable_port(p);                                      \
+               ao_exti_setup(p, b,                                     \
+                             AO_EXTI_MODE_PULL_UP|AO_EXTI_MODE_FALLING|AO_EXTI_PRIORITY_MED, \
+                             ao_limit_isr);                            \
+       } while (0)
+
+
+static void
+ao_servo_cmd(void)
+{
+       uint8_t dir;
+       uint16_t speed;
+
+       ao_cmd_decimal();
+       dir = ao_cmd_lex_u32;
+       ao_cmd_decimal();
+       speed = ao_cmd_lex_u32;
+       if (ao_cmd_status != ao_cmd_success)
+               return;
+
+       printf("Run servo %d\n", dir);
+       ao_servo_run(speed, dir, AO_MS_TO_TICKS(200));
+}
+
+static const struct ao_cmds ao_servo_cmds[] = {
+       { ao_servo_cmd, "S <dir> <speed>\0Run servo in indicated direction" },
+       { 0, NULL },
+};
+
+
+void
+ao_servo_init(void)
+{
+       init_limit(AO_SERVO_LIMIT_FORE_PORT, AO_SERVO_LIMIT_FORE_BIT);
+       init_limit(AO_SERVO_LIMIT_BACK_PORT, AO_SERVO_LIMIT_BACK_BIT);
+       ao_enable_output(AO_SERVO_DIR_PORT, AO_SERVO_DIR_BIT, AO_SERVO_DIR_PIN, 0);
+       ao_cmd_register(&ao_servo_cmds[0]);
+}

diff --git a/src/drivers/ao_servo.h b/src/drivers/ao_servo.h
new file mode 100644 (file)
index 0000000..e1df347
--- /dev/null
+++ b/src/drivers/ao_servo.h
@@ -0,0 +1,41 @@
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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.
+ */
+
+#ifndef _AO_SERVO_H_
+#define _AO_SERVO_H_
+
+void
+ao_servo_run(uint16_t speed, uint8_t dir, uint16_t timeout);
+
+void
+ao_servo_init(void);
+
+#define AO_SERVO_FORE  0
+#define AO_SERVO_BACK  1
+
+/* To configure the servo:
+ *
+ *     #define AO_SERVO_PWM                    <pwm index>
+ *     #define AO_SERVO_DIR_PORT               <gpio>
+ *     #define AO_SERVO_DIR_PIN                <pin>
+ *     #define AO_SERVO_LIMIT_FORE_PORT        <gpio>
+ *     #define AO_SERVO_LIMIT_FORE_PIN         <pin>
+ *     #define AO_SERVO_LIMIT_BACK_PORT        <gpio>
+ *     #define AO_SERVO_LIMIT_BACK_PIN         <pin>
+ */
+
+#endif /* _AO_SERVO_H_ */