Servo

smartsensor_fw/deploy/ss_type.py

@@ -23,8 +23,8 @@
   },
 
   "analog-in": {
-    "description": "This is a digital sensor.  It can be used to get the " + \
-                   "state of up to four switches.",
+    "description": "This is a analog sensor.  It can be used to get the " + \
+                   "state of up to four inputs.",
     "chunksNumer": 0xFF,
     "chunksDenom": 0xFF,
     "channels": [
@@ -104,7 +104,50 @@
         "additional": array('B', [0x01, 0xFF, 0xFF])
       },
     ]
-  }
+  },
+
+    "solenoid": {
+    "description": "This is a solenoid.  It can be used to control " + \
+                   "up to four solenoids.",
+    "chunksNumer": 0xFF,  # TODO(cduck): What is this?
+    "chunksDenom": 0xFF,
+    "channels": [
+      gameModeChannel,
+      { "description": "This is the first digital channel.",
+        "type": 0x04,
+        "additional": array('B', [0x01, 0xFF, 0xFF])
+      },
+      { "description": "This is the second digital channel.",
+        "type": 0x04,
+        "additional": array('B', [0x01, 0xFF, 0xFF])
+      },
+      { "description": "This is the third digital channel.",
+        "type": 0x04,
+        "additional": array('B', [0x01, 0xFF, 0xFF])
+      },
+      { "description": "This is the fourth digital channel.",
+        "type": 0x04,
+        "additional": array('B', [0x01, 0xFF, 0xFF])
+      },
+    ]
+  },
+  "servo": {
+    "description": "This is a servo. It can be used to control " + \
+                   "up to two servos.",
+    "chunksNumer": 0xFF,
+    "chunksDenom": 0xFF,
+    "channels": [
+      gameModeChannel,
+      { "description": "This is the first analog channel.",
+        "type"  : 0x03,
+        "additional": array('B', [0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x01])
+      },
+      { "description": "This is the second analog channel.",
+        "type"  : 0x03,
+        "additional": array('B', [0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x1F, 0x00, 0x00, 0x01])
+      }
+    ]
+  }, 
 }
 
 def allTypes():

smartsensor_fw/inc/servo.h

@@ -0,0 +1,28 @@
+// Licensed to Pioneers in Engineering under one
+// or more contributor license agreements.  See the NOTICE file
+// distributed with this work for additional information
+// regarding copyright ownership.  Pioneers in Engineering licenses
+// this file to you under the Apache License, Version 2.0 (the
+// "License"); you may not use this file except in compliance
+//  with the License.  You may obtain a copy of the License at
+//
+//    http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing,
+// software distributed under the License is distributed on an
+// "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+// KIND, either express or implied.  See the License for the
+// specific language governing permissions and limitations
+// under the License
+
+#ifndef INC_SERVO_H_
+#define INC_SERVO_H_
+
+#include "inc/smartsensor/common.h"
+
+// Public functions called from main.c
+void initServo();
+void activeServoRec(uint8_t *data, uint8_t len, uint8_t inband);
+void activeServoSend(uint8_t *outData, uint8_t *outLen, uint8_t *inband);
+
+#endif  // INC_SERVO_H_

smartsensor_fw/inc/smartsensor/common.h

@@ -30,6 +30,8 @@
 // Sensor types
 #define SENSOR_TYPE_DIGITAL 0x00
 #define SENSOR_TYPE_ANALOG_IN 0x01
+#define SENSOR_TYPE_SERVO    0x03
+#define SENSOR_TYPE_SOLENOID 0x04
 #define SENSOR_TYPE_GRIZZLY3 0x80
 #define SENSOR_TYPE_BUZZER 0x81
 #define SENSOR_TYPE_FLAG 0x82

smartsensor_fw/inc/solenoid.h

@@ -0,0 +1,28 @@
+// Licensed to Pioneers in Engineering under one
+// or more contributor license agreements.  See the NOTICE file
+// distributed with this work for additional information
+// regarding copyright ownership.  Pioneers in Engineering licenses
+// this file to you under the Apache License, Version 2.0 (the
+// "License"); you may not use this file except in compliance
+//  with the License.  You may obtain a copy of the License at
+//
+//    http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing,
+// software distributed under the License is distributed on an
+// "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+// KIND, either express or implied.  See the License for the
+// specific language governing permissions and limitations
+// under the License
+
+#ifndef INC_SOLENOID_H_
+#define INC_SOLENOID_H_
+
+#include "inc/smartsensor/common.h"
+
+// Public functions called from main.c
+void initSolenoid();
+void activeSolenoidRec(uint8_t *data, uint8_t len, uint8_t inband);
+void activeSolenoidSend(uint8_t *outData, uint8_t *outLen, uint8_t *inband);
+
+#endif  // INC_SOLENOID_H_

smartsensor_fw/src/servo.c

@@ -0,0 +1,104 @@
+// Licensed to Pioneers in Engineering under one
+// or more contributor license agreements.  See the NOTICE file
+// distributed with this work for additional information
+// regarding copyright ownership.  Pioneers in Engineering licenses
+// this file to you under the Apache License, Version 2.0 (the
+// "License"); you may not use this file except in compliance
+//  with the License.  You may obtain a copy of the License at
+//
+//    http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing,
+// software distributed under the License is distributed on an
+// "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+// KIND, either express or implied.  See the License for the
+// specific language governing permissions and limitations
+// under the License
+
+// This file has battery buzzer related functions
+
+#include "inc/servo.h"
+#include <avr/io.h>
+#include <avr/interrupt.h>
+
+static uint8_t AL1 = 0x01;
+static uint8_t AH1 = 0x00;
+static uint8_t BL1 = 0x01;
+static uint8_t BH1 = 0x00;
+
+
+
+// Timer 1 interrupt
+ISR(TIMER1_OVF_vect) {
+
+  // Create a counter in order to only send a pulse every 12 timer interrupts.
+  static unsigned char counter = 0;
+
+  // On the 12th timer interrupt run this to create a pulse
+  if (counter == 0) {
+
+    // Set timer 1 to phase and freq correct pwm mode
+    TCCR1A = (1 << COM1A1) | (1 << COM1A0) | (1 << COM1B1) | (1<< COM1B0);
+    TCCR1B = (1 << CS10) | (1 << WGM13);
+
+    // update the values in these registers to set the pulse length
+    OCR1AH = AH1;
+    OCR1AL = AL1;
+    OCR1BH = BH1;
+    OCR1BL = BL1;
+
+    counter++;
+
+  // Run this after the 12th interrupt to stop the PWM generator from creating a second pulse
+  } else if (counter == 1) {
+
+    // Set timer 1 to output disconnected mode
+    TCCR1A = (1 << WGM11);
+    TCCR1B = (1 << CS10) | (1 << WGM12) | (1 << WGM13);
+    counter++;
+  } else if (counter == 11) {
+    // Reset the counter at 11
+    counter = 0;
+  } else {
+    counter++;
+  }
+}
+
+// Private helper functions
+
+// Public functions called from main.c
+void initServo() {
+  // Set the PWM pins to output
+  DIGITAL_SET_OUT(IN1);
+  DIGITAL_SET_OUT(IN3);
+
+  // Initiate timer 1
+  TCCR1A = 0;
+  TCCR1B = (1 << CS10) | (1 << WGM13);
+
+  // Define the top value of timer 1
+  ICR1H = 0x25;
+  ICR1L = 0x40;
+
+  // Enable timer 1 overflow interrupt
+  TIMSK = (1 << TOIE1);
+
+  // Enable interrupts
+  sei();
+
+}
+
+void activeServoRec(uint8_t *data, uint8_t len, uint8_t inband) {
+  if (len > 1){
+    AL1 = data[0];
+    AH1 = data[1];
+  }
+  if (len > 3){
+    BL1 = data[2];
+    BH1 = data[3];
+  }
+}
+void activeServoSend(uint8_t *outData, uint8_t *outLen, uint8_t *inband) {
+  // TODO(cduck): Write this function
+  *outlen = 0;
+}

smartsensor_fw/src/solenoid.c

@@ -0,0 +1,70 @@
+// Licensed to Pioneers in Engineering under one
+// or more contributor license agreements.  See the NOTICE file
+// distributed with this work for additional information
+// regarding copyright ownership.  Pioneers in Engineering licenses
+// this file to you under the Apache License, Version 2.0 (the
+// "License"); you may not use this file except in compliance
+//  with the License.  You may obtain a copy of the License at
+//
+//    http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing,
+// software distributed under the License is distributed on an
+// "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+// KIND, either express or implied.  See the License for the
+// specific language governing permissions and limitations
+// under the License
+
+// This file has digital io smart sensor related functions
+
+#include "inc/solenoid.h"
+
+// Private global variables
+uint8_t outValueSolenoid = 0;
+
+// Private helper functions
+void SolenoidSetValue(uint8_t val);
+
+
+// Public functions called from main.c
+void initSolenoid() {
+  DIGITAL_SET_LOW(IN0);
+  DIGITAL_SET_LOW(IN1);
+  DIGITAL_SET_LOW(IN2);
+  DIGITAL_SET_LOW(IN3);
+
+  // TODO(tobinsarah): allow configuration as input/output for each relevant pin
+  DIGITAL_SET_OUT(IN0);
+  DIGITAL_SET_OUT(IN1);
+  DIGITAL_SET_OUT(IN2);
+  DIGITAL_SET_OUT(IN3);
+}
+void activeSolenoidRec(uint8_t *data, uint8_t len, uint8_t inband) {
+  if (len >= 1) {
+    outValueSolenoid = data[0];
+  }
+  switch (gameMode) {
+    case MODE_ACTIVE: SolenoidSetValue(outValueSolenoid);
+      break;
+    case MODE_DISABLED: SolenoidSetValue(0);
+      break;
+    case MODE_PAUSED: SolenoidSetValue(0);  // Don't update outputs
+    default: break;
+  }
+}
+void activeSolenoidSend(uint8_t *outData, uint8_t *outLen, uint8_t *inband) {
+*outLen = 0;
+}
+
+
+
+
+
+// Private helper functions
+// TODO(karthik-shanmugam): update pins
+void SolenoidSetValue(uint8_t val) {
+  DIGITAL_SET(IN0, val & 1);  // UPDATE IN0
+  DIGITAL_SET(IN1, val & 2);  // UPDATE IN1
+  DIGITAL_SET(IN2, val & 4);  // UPDATE IN2
+  DIGITAL_SET(IN3, val & 8);  // UPDATE IN3
+}

smartsensor_fw/src/ss_type.c

@@ -22,6 +22,7 @@
 #include "inc/analog_in.h"
 #include "inc/buzzer.h"
 #include "inc/flag.h"
+#include "inc/servo.h"
 
 void ssInitType() {
   switch (SENSOR_TYPE) {
@@ -37,6 +38,9 @@ void ssInitType() {
     case SENSOR_TYPE_FLAG:
       initFlag();
       break;
+    case SENSOR_TYPE_SERVO:
+      initServo();
+      break;
     default: break;
     // TODO(cduck): Add more smart sensors types
   }
@@ -56,6 +60,9 @@ void ssActiveSend(uint8_t *decodedBuffer, uint8_t *pacLen, uint8_t *inband) {
     case SENSOR_TYPE_FLAG:
       activeFlagSend(decodedBuffer, pacLen, inband);
       break;
+    case SENSOR_TYPE_SERVO:
+      activeServoSend(decodedBuffer, pacLen, inband);
+      break;
     default: break;
     // TODO(cduck): Add more smart sensors types
   }
@@ -75,6 +82,9 @@ void ssActiveInRec(uint8_t *decodedBuffer, uint8_t dataLen, uint8_t inband) {
     case SENSOR_TYPE_FLAG:
       activeFlagRec(decodedBuffer, dataLen, inband);
       break;
+    case SENSOR_TYPE_SERVO:
+      activeServoRec(decodedBuffer, dataLen, inband);
+      break;
     default: break;
     // TODO(cduck): Add more smart sensors types
   }