diff options
Diffstat (limited to 'firmware/pwm.c')
| -rw-r--r-- | firmware/pwm.c | 270 |
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; + } +} |