Contiki-NG
servo.h
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1 /*
2  * Copyright (c) 2016, Zolertia - http://www.zolertia.com
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions
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8  * 1. Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * 2. Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * 3. Neither the name of the Institute nor the names of its contributors
14  * may be used to endorse or promote products derived from this software
15  * without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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23  * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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25  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
26  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
27  * SUCH DAMAGE.
28  *
29  * This file is part of the Contiki operating system.
30  *
31  */
32 /*---------------------------------------------------------------------------*/
33 /**
34  * \addtogroup zoul-sensors
35  * @{
36  *
37  * \defgroup zoul-servo Generic servo driver
38  *
39  * Driver for a Generic Servo actuator
40  *
41  * @{
42  *
43  * \file
44  * Header file for a Generic Servo driver
45  *
46  * \author
47  * Antonio Lignan <alinan@zolertia.com>
48  */
49 /*---------------------------------------------------------------------------*/
50 #ifndef SERVO_H_
51 #define SERVO_H_
52 #include <stdio.h>
53 #include "dev/pwm.h"
54 /* -------------------------------------------------------------------------- */
55 /**
56  * \name Servo default settings
57  * @{
58  */
59 /* -------------------------------------------------------------------------- */
60 #ifndef SERVO_CONF_FREQ
61 #define SERVO_DEFAULT_FREQ 50 /**< 50 Hz */
62 #else
63 #define SERVO_DEFAULT_FREQ SERVO_CONF_FREQ
64 #endif
65 
66 #ifndef SERVO_CONF_MAX_DEGREES
67 #define SERVO_MAX_DEGREES 180
68 #else
69 #define SERVO_MAX_DEGREES SERVO_CONF_MAX_DEGREES
70 #endif
71 
72 #ifndef SERVO_CONF_MIN_VAL
73 #define SERVO_MIN_VAL 9600 /**> roughly equals to 3% duty cycle */
74 #else
75 #define SERVO_MIN_VAL SERVO_CONF_MIN_VAL
76 #endif
77 
78 #ifndef SERVO_CONF_MAX_VAL
79 #define SERVO_MAX_VAL 38400 /**> roughly equals to 12% duty cycle */
80 #else
81 #define SERVO_MAX_VAL SERVO_CONF_MAX_VAL
82 #endif
83 /** @} */
84 /* -------------------------------------------------------------------------- */
85 /**
86  * \name Servo general purpose timers mapping
87  * @{
88  */
89 #define SERVO_CHANNEL_1 0x001 /**< GPT0-B */
90 #define SERVO_CHANNEL_2 0x100 /**< GPT1-A */
91 #define SERVO_CHANNEL_3 0x101 /**< GPT1-B */
92 #define SERVO_CHANNEL_4 0x200 /**< GPT2-A */
93 #define SERVO_CHANNEL_5 0x201 /**< GPT2-B */
94 #define SERVO_CHANNEL_6 0x300 /**< GPT3-A */
95 #define SERVO_CHANNEL_7 0x301 /**< GPT3-B */
96 /** @} */
97 /* -------------------------------------------------------------------------- */
98 /**
99  * \name Servo general constants
100  * @{
101  */
102 #define SERVO_SUCCESS 0
103 #define SERVO_ERROR (-1)
104 /** @} */
105 /* -------------------------------------------------------------------------- */
106 /**
107  * \name Servo public funtions
108  * @{
109  */
110 
111 /** \brief Configures and positions a servo in a given position (by degrees)
112  * The servo will lock its position as long as it is not stopped
113  * \param gptab Servo channel (PWM GPT from 1-7)
114  * \param port Port number to use as PWM
115  * \param pin Pin number to use as PWM
116  * \param pos Position to map the servo to (0-360ยบ, integer)
117  * \return \c SERVO_SUCCESS if successful, else \c SERVO_ERROR
118  */
119 int servo_position(uint16_t gptab, uint8_t port, uint8_t pin, uint16_t pos);
120 
121 /** \brief Fully stop a servo and reconfigures back the pin/port as GPIO
122  * \param gptab Servo channel (PWM GPT from 1-7)
123  * \param port Port number to use as PWM
124  * \param pin Pin number to use as PWM
125  * \return \c SERVO_SUCCESS if successful, else \c SERVO_ERROR
126  */
127 int servo_stop(uint16_t gptab, uint8_t port, uint8_t pin);
128 /** @} */
129 /* -------------------------------------------------------------------------- */
130 #endif
131 /* -------------------------------------------------------------------------- */
132 /**
133  * @}
134  * @}
135  */
136 
Header file for the CC2538 PWM driver.
int servo_stop(uint16_t gptab, uint8_t port, uint8_t pin)
Fully stop a servo and reconfigures back the pin/port as GPIO.
Definition: servo.c:105
int servo_position(uint16_t gptab, uint8_t port, uint8_t pin, uint16_t pos)
Configures and positions a servo in a given position (by degrees) The servo will lock its position as...
Definition: servo.c:55