rc_servos: first version, generating PWM

diff --git a/.config b/.config
new file mode 100644 (file)
index 0000000..50d8094
--- /dev/null
+++ b/.config
@@ -0,0 +1,257 @@
+#
+# Automatically generated by make menuconfig: don't edit
+#
+
+#
+# Hardware
+#
+# CONFIG_MCU_AT90S2313 is not set
+# CONFIG_MCU_AT90S2323 is not set
+# CONFIG_MCU_AT90S3333 is not set
+# CONFIG_MCU_AT90S2343 is not set
+# CONFIG_MCU_ATTINY22 is not set
+# CONFIG_MCU_ATTINY26 is not set
+# CONFIG_MCU_AT90S4414 is not set
+# CONFIG_MCU_AT90S4433 is not set
+# CONFIG_MCU_AT90S4434 is not set
+# CONFIG_MCU_AT90S8515 is not set
+# CONFIG_MCU_AT90S8534 is not set
+# CONFIG_MCU_AT90S8535 is not set
+# CONFIG_MCU_AT86RF401 is not set
+# CONFIG_MCU_ATMEGA103 is not set
+# CONFIG_MCU_ATMEGA603 is not set
+# CONFIG_MCU_AT43USB320 is not set
+# CONFIG_MCU_AT43USB355 is not set
+# CONFIG_MCU_AT76C711 is not set
+# CONFIG_MCU_ATMEGA8 is not set
+# CONFIG_MCU_ATMEGA48 is not set
+# CONFIG_MCU_ATMEGA88 is not set
+# CONFIG_MCU_ATMEGA8515 is not set
+# CONFIG_MCU_ATMEGA8535 is not set
+# CONFIG_MCU_ATTINY13 is not set
+# CONFIG_MCU_ATTINY2313 is not set
+# CONFIG_MCU_ATMEGA16 is not set
+# CONFIG_MCU_ATMEGA161 is not set
+# CONFIG_MCU_ATMEGA162 is not set
+# CONFIG_MCU_ATMEGA163 is not set
+# CONFIG_MCU_ATMEGA165 is not set
+# CONFIG_MCU_ATMEGA168 is not set
+# CONFIG_MCU_ATMEGA169 is not set
+# CONFIG_MCU_ATMEGA32 is not set
+# CONFIG_MCU_ATMEGA323 is not set
+# CONFIG_MCU_ATMEGA325 is not set
+# CONFIG_MCU_ATMEGA3250 is not set
+CONFIG_MCU_ATMEGA328P=y
+# CONFIG_MCU_ATMEGA64 is not set
+# CONFIG_MCU_ATMEGA645 is not set
+# CONFIG_MCU_ATMEGA6450 is not set
+# CONFIG_MCU_ATMEGA128 is not set
+# CONFIG_MCU_ATMEGA1281 is not set
+# CONFIG_MCU_AT90CAN128 is not set
+# CONFIG_MCU_AT94K is not set
+# CONFIG_MCU_AT90S1200 is not set
+# CONFIG_MCU_ATMEGA2560 is not set
+# CONFIG_MCU_ATMEGA256 is not set
+CONFIG_QUARTZ=8000000
+
+#
+# Generation options
+#
+# CONFIG_OPTM_0 is not set
+# CONFIG_OPTM_1 is not set
+# CONFIG_OPTM_2 is not set
+# CONFIG_OPTM_3 is not set
+CONFIG_OPTM_S=y
+# CONFIG_MATH_LIB is not set
+# CONFIG_FDEVOPEN_COMPAT is not set
+CONFIG_NO_PRINTF=y
+# CONFIG_MINIMAL_PRINTF is not set
+# CONFIG_STANDARD_PRINTF is not set
+CONFIG_FORMAT_IHEX=y
+# CONFIG_FORMAT_SREC is not set
+# CONFIG_FORMAT_BINARY is not set
+
+#
+# Base modules
+#
+# CONFIG_MODULE_CIRBUF is not set
+# CONFIG_MODULE_CIRBUF_LARGE is not set
+# CONFIG_MODULE_FIXED_POINT is not set
+# CONFIG_MODULE_VECT2 is not set
+# CONFIG_MODULE_GEOMETRY is not set
+# CONFIG_MODULE_HOSTSIM is not set
+# CONFIG_MODULE_SCHEDULER is not set
+# CONFIG_MODULE_SCHEDULER_STATS is not set
+# CONFIG_MODULE_SCHEDULER_CREATE_CONFIG is not set
+# CONFIG_MODULE_SCHEDULER_USE_TIMERS is not set
+CONFIG_MODULE_SCHEDULER_TIMER0=y
+# CONFIG_MODULE_SCHEDULER_MANUAL is not set
+# CONFIG_MODULE_TIME is not set
+# CONFIG_MODULE_TIME_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIME_EXT is not set
+# CONFIG_MODULE_TIME_EXT_CREATE_CONFIG is not set
+
+#
+# Communication modules
+#
+# CONFIG_MODULE_LUFA is not set
+# CONFIG_MODULE_UART is not set
+# CONFIG_MODULE_UART_9BITS is not set
+# CONFIG_MODULE_UART_CREATE_CONFIG is not set
+# CONFIG_MODULE_SPI is not set
+# CONFIG_MODULE_SPI_CREATE_CONFIG is not set
+# CONFIG_MODULE_I2C is not set
+# CONFIG_MODULE_I2C_MASTER is not set
+# CONFIG_MODULE_I2C_MULTIMASTER is not set
+# CONFIG_MODULE_I2C_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_CLIENT is not set
+# CONFIG_MODULE_MF2_CLIENT_USE_SCHEDULER is not set
+# CONFIG_MODULE_MF2_CLIENT_CREATE_CONFIG is not set
+# CONFIG_MODULE_MF2_SERVER is not set
+# CONFIG_MODULE_MF2_SERVER_CREATE_CONFIG is not set
+
+#
+# Hardware modules
+#
+# CONFIG_MODULE_TIMER is not set
+# CONFIG_MODULE_TIMER_CREATE_CONFIG is not set
+# CONFIG_MODULE_TIMER_DYNAMIC is not set
+# CONFIG_MODULE_PWM is not set
+# CONFIG_MODULE_PWM_CREATE_CONFIG is not set
+# CONFIG_MODULE_PWM_NG is not set
+# CONFIG_MODULE_ADC is not set
+# CONFIG_MODULE_ADC_CREATE_CONFIG is not set
+
+#
+# IHM modules
+#
+# CONFIG_MODULE_MENU is not set
+# CONFIG_MODULE_VT100 is not set
+# CONFIG_MODULE_RDLINE is not set
+# CONFIG_MODULE_RDLINE_CREATE_CONFIG is not set
+# CONFIG_MODULE_RDLINE_KILL_BUF is not set
+# CONFIG_MODULE_RDLINE_HISTORY is not set
+# CONFIG_MODULE_PARSE is not set
+# CONFIG_MODULE_PARSE_NO_FLOAT is not set
+
+#
+# External devices modules
+#
+# CONFIG_MODULE_LCD is not set
+# CONFIG_MODULE_LCD_CREATE_CONFIG is not set
+# CONFIG_MODULE_MULTISERVO is not set
+# CONFIG_MODULE_MULTISERVO_CREATE_CONFIG is not set
+# CONFIG_MODULE_AX12 is not set
+# CONFIG_MODULE_AX12_CREATE_CONFIG is not set
+
+#
+# Brushless motor drivers (you should enable pwm modules to see all)
+#
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_CREATE_CONFIG is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE is not set
+# CONFIG_MODULE_BRUSHLESS_3PHASE_DIGITAL_HALL_DOUBLE_CREATE_CONFIG is not set
+
+#
+# Encoders (you need comm/spi for encoders_spi)
+#
+# CONFIG_MODULE_ENCODERS_MICROB is not set
+# CONFIG_MODULE_ENCODERS_MICROB_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT is not set
+# CONFIG_MODULE_ENCODERS_EIRBOT_CREATE_CONFIG is not set
+# CONFIG_MODULE_ENCODERS_SPI is not set
+# CONFIG_MODULE_ENCODERS_SPI_CREATE_CONFIG is not set
+
+#
+# Robot specific modules (fixed point lib may be needed)
+#
+# CONFIG_MODULE_ROBOT_SYSTEM is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_USE_F64 is not set
+# CONFIG_MODULE_ROBOT_SYSTEM_MOT_AND_EXT is not set
+# CONFIG_MODULE_POSITION_MANAGER is not set
+# CONFIG_MODULE_COMPENSATE_CENTRIFUGAL_FORCE is not set
+# CONFIG_MODULE_TRAJECTORY_MANAGER is not set
+# CONFIG_MODULE_BLOCKING_DETECTION_MANAGER is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE is not set
+# CONFIG_MODULE_OBSTACLE_AVOIDANCE_CREATE_CONFIG is not set
+
+#
+# Control system modules
+#
+# CONFIG_MODULE_CONTROL_SYSTEM_MANAGER is not set
+# CONFIG_MODULE_PID is not set
+# CONFIG_MODULE_PID_CREATE_CONFIG is not set
+# CONFIG_MODULE_RAMP is not set
+# CONFIG_MODULE_QUADRAMP is not set
+# CONFIG_MODULE_QUADRAMP_DERIVATE is not set
+# CONFIG_MODULE_BIQUAD is not set
+
+#
+# Radio devices
+#
+# CONFIG_MODULE_CC2420 is not set
+# CONFIG_MODULE_CC2420_CREATE_CONFIG is not set
+
+#
+# Crypto modules
+#
+# CONFIG_MODULE_AES is not set
+# CONFIG_MODULE_AES_CTR is not set
+# CONFIG_MODULE_MD5 is not set
+# CONFIG_MODULE_MD5_HMAC is not set
+# CONFIG_MODULE_RC4 is not set
+
+#
+# Encodings modules
+#
+# CONFIG_MODULE_BASE64 is not set
+# CONFIG_MODULE_HAMMING is not set
+
+#
+# Debug modules
+#
+# CONFIG_MODULE_DIAGNOSTIC is not set
+# CONFIG_MODULE_DIAGNOSTIC_CREATE_CONFIG is not set
+# CONFIG_MODULE_ERROR is not set
+# CONFIG_MODULE_ERROR_CREATE_CONFIG is not set
+
+#
+# Programmer options
+#
+CONFIG_AVRDUDE=y
+# CONFIG_AVARICE is not set
+
+#
+# Avrdude
+#
+# CONFIG_AVRDUDE_PROG_FUTURELEC is not set
+# CONFIG_AVRDUDE_PROG_ABCMINI is not set
+# CONFIG_AVRDUDE_PROG_PICOWEB is not set
+# CONFIG_AVRDUDE_PROG_SP12 is not set
+# CONFIG_AVRDUDE_PROG_ALF is not set
+# CONFIG_AVRDUDE_PROG_BASCOM is not set
+# CONFIG_AVRDUDE_PROG_DT006 is not set
+# CONFIG_AVRDUDE_PROG_PONY_STK200 is not set
+# CONFIG_AVRDUDE_PROG_STK200 is not set
+# CONFIG_AVRDUDE_PROG_PAVR is not set
+# CONFIG_AVRDUDE_PROG_BUTTERFLY is not set
+# CONFIG_AVRDUDE_PROG_AVR910 is not set
+# CONFIG_AVRDUDE_PROG_STK500 is not set
+# CONFIG_AVRDUDE_PROG_STK500V1 is not set
+CONFIG_AVRDUDE_PROG_ARDUINO=y
+# CONFIG_AVRDUDE_PROG_AVRISP is not set
+# CONFIG_AVRDUDE_PROG_BSD is not set
+# CONFIG_AVRDUDE_PROG_DAPA is not set
+# CONFIG_AVRDUDE_PROG_JTAG1 is not set
+# CONFIG_AVRDUDE_PROG_AVR109 is not set
+CONFIG_AVRDUDE_PORT="/dev/ttyUSB0"
+CONFIG_AVRDUDE_BAUDRATE=57600
+
+#
+# Avarice
+#
+CONFIG_AVARICE_PORT="/dev/ttyS0"
+CONFIG_AVARICE_DEBUG_PORT=1234
+CONFIG_AVARICE_PROG_MKI=y
+# CONFIG_AVARICE_PROG_MKII is not set
+# CONFIG_AVRDUDE_CHECK_SIGNATURE is not set

diff --git a/Makefile b/Makefile
new file mode 100644 (file)
index 0000000..18a0882
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,13 @@
+TARGET = main
+
+AVERSIVE_DIR =../..
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c
+
+CFLAGS += -W -Wall -Werror
+
+########################################
+
+-include .aversive_conf
+include $(AVERSIVE_DIR)/mk/aversive_project.mk

diff --git a/main.c b/main.c
new file mode 100644 (file)
index 0000000..e733e81
--- /dev/null
+++ b/main.c
@@ -0,0 +1,99 @@
+#include <aversive.h>
+
+struct servo {
+       uint8_t bit;
+       uint16_t command;
+};
+
+static struct servo servo_table[] = {
+       {
+               .bit = 0,
+               .command = 0,
+       },
+       {
+               .bit = 1,
+               .command = 512,
+       },
+       {
+               .bit = 2,
+               .command = 1023,
+       },
+};
+static volatile uint8_t rxbuf[16];
+static volatile uint8_t rxlen;
+static volatile uint8_t portval;
+static volatile uint8_t done;
+
+SIGNAL(TIMER1_COMPA_vect)
+{
+       PORTC = portval;
+       TIMSK1 &= ~_BV(OCIE1A);
+       done = 1;
+}
+
+static void poll_spi(void)
+{
+}
+
+static void load_timer_at(uint16_t t)
+{
+       OCR1A = t;
+       TIMSK1 |= _BV(OCIE1A);
+}
+
+static void do_one_servo(struct servo *s)
+{
+       uint16_t t;
+
+       /* set bit */
+       done = 0;
+       //portval = PORTC | (1 << s->bit);
+       portval = (1 << s->bit);
+       t = TCNT1;
+       load_timer_at(t + 150);
+       while (done == 0)
+               poll_spi();
+
+       /* reset bit */
+       done = 0;
+       portval = 0;
+       //portval = PORTC & (~(1 << s->bit));
+       load_timer_at(t + 150 + 8000 + s->command * 8);
+       while (done == 0)
+               poll_spi();
+}
+
+int main(void)
+{
+       uint8_t i;
+       uint8_t t, diff;
+
+       DDRB = 0x20;
+       DDRC = 0x7;
+
+       /* start timer1 at clk/1 (8Mhz) */
+       TCNT1 = 0;
+       TCCR1B = _BV(CS10);
+
+       /* start timer0 at clk/1024 (~8Khz) */
+       TCNT0 = 0;
+       TCCR0B = _BV(CS02) | _BV(CS00);
+
+       sei();
+
+       while (1) {
+               t = TCNT0;
+               for (i = 0; i < sizeof(servo_table)/sizeof(*servo_table); i++) {
+                       do_one_servo(&servo_table[i]);
+               }
+               /* wait 20 ms */
+               while (1) {
+                       diff = TCNT0 - t;
+                       if (diff >= 160)
+                               break;
+                       poll_spi();
+               }
+       }
+
+       return 0;
+}