Mini-Octopus build from r@171

1 files changed, 270 insertions, 0 deletions

diff --git a/firmware/pwm.c b/firmware/pwm.c
new file mode 100644
index 0000000..9e3666d
--- /dev/null
+++ b/firmware/pwm.c
@@ -0,0 +1,270 @@
+/*
+ * Copyright (c) 2007 empronix (http://www.empronix.com)
+ * Author: Benedikt Sauter <sauter@empronix.com>
+ * All rights reserved.
+ *
+ * Short descripton of file:
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions 
+ * are met:
+ *
+ *   * Redistributions of source code must retain the above copyright 
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above 
+ *     copyright notice, this list of conditions and the following 
+ *     disclaimer in the documentation and/or other materials provided 
+ *     with the distribution.
+ *   * Neither the name of the FH Augsburg nor the names of its 
+ *     contributors may be used to endorse or promote products derived 
+ *     from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 
+ * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
+ * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES{} LOSS OF USE, 
+ * DATA, OR PROFITS{} OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
+ * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "common.h"
+#include "protocol.h"
+#include "adc.h"
+#include "io.h"
+#include "pwm.h"
+
+#include <avr/interrupt.h>
+
+volatile unsigned int counter;
+
+ SIGNAL(SIG_OUTPUT_COMPARE1A){
+    //OCR1A = counter;
+ }
+
+
+
+void pwm_parser(char *buf)
+{
+   switch(buf[0])
+   {
+      case CMD_PWM_INIT_PIN:
+         pwm_init_usb((int)buf[2]);
+      break;
+      case CMD_PWM_DEINIT_PIN:
+         pwm_deinit_usb((int)buf[2]);
+      break;
+      case CMD_PWM_SPEED:
+         pwm_speed_usb((int)buf[2],(int)buf[3]);
+      break;
+      case CMD_PWM_VALUE:
+        pwm_value_usb((int)buf[2],(int)buf[3]);
+      break;
+
+      default:
+         answer[0]=buf[0];
+         answer[1]=RSP_UNKOWN_CMD;
+         answer[2]=0;
+         CommandAnswer(3);
+    }
+}
+
+int pwm_init(int pin)
+{
+   if (pin >= 8 && pin <= 9)
+   {
+      octopus.ports[pin] = PIN_PWM;
+
+      switch(pin)
+      {
+         case 9:	        
+            /* set pin as output */
+            OX_DDR9 |=(1<<OX_P9); 
+            OCR1A=1; // TOP          
+#ifdef OCTOPUS_CAN
+            /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP  COM1A1)*/    
+            TCCR1A = (1<<WGM10)|(1<<COM1A1);         
+            TCCR1B = (1<<WGM12)|(1<<CS10);  // system clock
+#else            
+            /* configure timer */    
+            //TCCR1 = (1<<WGM10)|(1<<COM01)|(1<<CS01);                        
+            //TCCR1B = (1<<CS10);  // system clock
+#endif
+         break;
+         case 8:	  
+            OX_DDR8 |=(1<<OX_P8); 
+#ifdef OCTOPUS_CAN
+            OCR2A=1; // TOP          
+            /* configure timer, (WGM = FAST PWM) (clear on OCnA, set on TOP  COM1A1)*/    
+            TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20);         
+            //TCCR1B = (1<<WGM12)|(1<<CS10);  // system clock
+#else            
+            /* configure timer */    
+            //TCCR1 = (1<<WGM10)|(1<<COM01)|(1<<CS01);                        
+            //TCCR1B = (1<<CS10);  // system clock
+#endif
+         break;
+         default:
+	         return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK; 
+   }
+   return RSP_UNKOWN_PIN;
+}
+
+void pwm_init_usb(int pin)
+{
+   answer[0]=CMD_PWM_INIT_PIN;
+   answer[1]= (unsigned char)pwm_init(pin);
+   answer[2]=0;
+
+   CommandAnswer(3);
+}
+
+
+
+void pwm_deinit_usb(int pin)
+{
+  answer[0]=CMD_PWM_DEINIT_PIN;
+  answer[1]=(unsigned char)pwm_deinit(pin);
+  answer[2]=0;
+  CommandAnswer(3);
+}
+
+int pwm_deinit(int pin)
+{
+  octopus.ports[pin]=PIN_OUT;  // this is wrong!
+#ifdef OCTOPUS_CAN
+  switch(pin)
+  {
+     case 8: TCCR2A = 0; break;
+     case 9: TCCR1B = 0; TCCR1A = 0; break;
+     default: return RSP_WRONG_PIN_CONFIG;
+
+  }     
+  io_set_pin_direction_out(pin);
+#endif
+  return RSP_OK;
+}
+
+
+
+void pwm_speed_usb(int pin, int speed)
+{
+   answer[0]=CMD_PWM_SPEED;
+   answer[1]=pwm_speed(pin,speed);
+   answer[2]=0; 
+   CommandAnswer(3);
+}
+
+
+int pwm_speed(int pin, int speed)
+{
+   if (octopus.ports[pin] == PIN_PWM)
+   {
+      switch (pin)
+      {
+         case 9: 
+            switch (speed)
+            {
+               case 1:                  
+                  TCCR1B = (1<<CS10);  // system clock      33 kHz                               
+               break;
+               case 2:
+                  TCCR1B = (1<<CS11);  // div 8 // 500 Hz                 
+               break;
+               case 3:
+                  TCCR1B = (1<<CS11)|(1<<CS10);  // div 64
+               break;
+               case 4:
+                  TCCR1B = (1<<CS12);  // div 256
+               break;
+               case 5:
+                  TCCR1B = (1<<CS12)|(1<<CS10);  // div 1024
+               break;
+
+               default:
+               ;
+            }
+         break;
+         case 8: 
+#ifdef OCTOPUS_CAN
+
+            switch (speed)
+            {
+               case 1:                  
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20);     // external 32kHz                              
+               break;
+               case 2:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21);    // external div 8                      
+               break;
+               case 3:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20)|(1<<CS21); //div 32         
+               break;
+               case 4:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS22); //div 64         
+               break;
+               case 5:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS20)|(1<<CS22); //div 128         
+               break; 
+               case 6:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21)|(1<<CS22); //div 256         
+               break;   
+               case 7:
+                  TCCR2A = (1<<WGM20)| (1<<WGM21)|(1<<COM2A1)|(1<<CS21)|(1<<CS22)|(1<<CS20); //div 1024         
+               break;                  
+               default:
+               ;
+            }
+#endif
+         break;
+         default:
+	      return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}
+
+void pwm_value_usb(int pin, unsigned int value)
+{
+   answer[0]=CMD_PWM_VALUE;
+   answer[1]=pwm_value(pin,value);
+   answer[2]=0; 
+   CommandAnswer(3);
+}
+
+
+int pwm_value(int pin, unsigned int value)
+{
+   if (octopus.ports[pin] == PIN_PWM)
+   {
+      switch (pin)
+      {
+         case 9: 
+            OCR1A = value; 
+         break;
+         case 8: 
+#ifdef OCTOPUS_CAN
+            OCR2A = value; 
+#endif
+            ; 
+         break;
+         default:
+	      return RSP_IMPOSSIBLE_PIN_CONFIG;
+      } 
+      return RSP_OK;
+   } 
+   else 
+   {
+      return RSP_WRONG_PIN_CONFIG;
+   } 
+}