altos/detherm: Add servo driver

[fw/altos] / src / drivers / ao_servo.c

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]);
+}