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/*
* 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 */
DDRB |=(1<<PB5);
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:
DDRB |=(1<<PB4);
#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_NONE;
#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;
}
}
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