// Built with BFTC Rev. 1.0.0, lun 25 agosto 2014 09:37:35

/*

    Copyright 2014 Digital Technology Art SRL

    This file is part of Blackfin Toolchain (BFTC) project.

    BFTC is free software: you can redistribute it and/or modify

    it under the terms of the GNU General Public License as published by

    the Free Software Foundation, either version 3 of the License, or

    (at your option) any later version.

    BFTC is distributed in the hope that it will be useful,

    but WITHOUT ANY WARRANTY; without even the implied warranty of

    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License

    along with Nome-Programma.  If not, see <http://www.gnu.org/licenses/>.

*/

// In this very little example we show how to implement a servo controller

// with 8 outputs.

// Each output have a minimum step of 10us

// With this step a range of 10000 positions is settable, also for the servo?

//

#include "main.h"

#include <string.h>

// Default PWM values for each output

unsigned pwm[8];

// With the value of 1.0ms = 100 * 10us, The servo is positioned to the extreme left.

// With the value of 2.0ms = 200 * 10us, The servo is positioned to the extreme right.

// With the value of 1.5ms = 150 * 10us, The servo is centered.

unsigned pwmPreset[8] = { 150, 150, 150, 150, 150, 150, 150, 150 };

unsigned char portMask[8] = { PG0, PG1, PG2, PG3, PG4, PG5, PG6, PG7 };

// This procedure is called every 20ms and start PWM activity

// on each output

void callBack20ms()

{

*pPORTGIO = 0xFF;

memcpy(pwm, pwmPreset, sizeof(unsigned) * 8);

// Enable PWM countdown

Set_TimerEnable(TIMER_1, true);

}

void callBackPwm()

{

int i, a = 0;

for(i = 0; i < 8; i++)

{

if(pwm[i])

pwm[i]--;

// Clear related bit if countdown is 0

else *pPORTGIO_CLEAR = portMask[i];

// Check the end of all counts

a += pwm[i];

}

// If no more countdown disable the interrupt

if(!a) Set_TimerEnable(TIMER_1, false);

}

unsigned char CommandMenu()

{

printf("\n");

printf("COMMANDS ******************\n");

printf("1-8 Select PWM output\n");

printf("+   Increment the value of the selected output (100us)\n");

printf("-   Increment the value of the selected output (100us)\n");

printf("> ");

return GetChar_Uart0();;

}

int main(void)

{

int pwmSel = 0, com;

Set_PLL(16, 4); // CORE: 25MHz * 16 = 400MHz, SCLK: 400MHz / 4 = 100MHz

Set_Port(); // Set the port according to project set

Set_Uart0(115200); // printf is redirected to UART0

// Timer generate an interrupt every 20ms

Set_TimerInterruptService(TIMER_0, &callBack20ms, 20000);

Set_TimerEnable(TIMER_0, true);

// Timer generate an interrupt every 10us

Set_TimerInterruptService(TIMER_1, &callBackPwm, 10);

while(1) // Main loop

{

com = CommandMenu();

switch(com)

{

// Change the output to be controlled

case '1': case '2': case '3': case '4':

case '5': case '6': case '7': case '8':

pwmSel = com - '1';

break;

case '+':

// Add an increment of 100us

pwmPreset[pwmSel] += 10;

break;

case '-':

// Decrement by 100us

pwmPreset[pwmSel] -= 10;

break;

}

}

return 0;

}