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Initial effort at porting tlc_servos.h (compiles but fails to run)

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PaulStoffregen
2014-06-08 16:46:04 -07:00
parent 044b716102
commit bf40637fa7
3 changed files with 60 additions and 5 deletions
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22
tlc_servos.h
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@@ -22,7 +22,6 @@
/** \file
TLC servo functions. */
#include <avr/io.h>
#include "Tlc5940.h"
#ifndef SERVO_MAX_ANGLE
@@ -74,6 +73,7 @@ uint8_t tlc_valToAngle(uint16_t value);
void tlc_initServos(uint8_t initAngle)
{
Tlc.init(tlc_angleToVal(initAngle));
#if defined(__AVR__)
TCCR1B &= ~(_BV(CS12) | _BV(CS11) | _BV(CS10)); // stop timer1
ICR1 = SERVO_TIMER1_TOP;
TCNT1 = 0;
@@ -83,6 +83,9 @@ void tlc_initServos(uint8_t initAngle)
TCNT2 = 0;
OCR2 = SERVO_TIMER2_TOP / 2;
TCCR2 = oldTCCR2;
#elif defined(TLC_TIMER3_GSCLK)
// TODO: timer3 implementation needed...
// pull requests would be most welcome! ;-)
#else
uint8_t oldTCCR2B = TCCR2B;
TCCR2B = 0;
@@ -91,6 +94,23 @@ void tlc_initServos(uint8_t initAngle)
TCCR2B = oldTCCR2B;
#endif
TCCR1B |= _BV(CS11); // start timer1 with div 8 prescale
#elif defined(__arm__) && defined(TEENSYDUINO)
//clear_XLAT_interrupt();
uint32_t sc = FTM1_SC;
FTM1_SC = 0; // stop timer
CMT_MSC = 0;
CMT_CGH1 = TLC_TIMER_TEENSY3_SERVO_CGH1;
CMT_CGL1 = TLC_TIMER_TEENSY3_SERVO_CGL1;
CMT_MSC = 0x01; // GSCLK target is 204800 Hz
// TODO: this reconfiguration of FTM1 crashes... why?
// pull requests would be most welcome! ;-)
FTM1_CNT = 0;
FTM1_MOD = TLC_TIMER_TEENSY3_SERVO_MOD;
FTM1_C0V = TLC_TIMER_TEENSY3_SERVO_MOD - TLC_TIMER_TEENSY3_SERVO_CV;
FTM1_C1V = TLC_TIMER_TEENSY3_SERVO_MOD - TLC_TIMER_TEENSY3_SERVO_CV - 1;
FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS | TLC_TIMER_TEENSY3_SERVO_PS;
#endif
}
/** Sets a servo on channel to angle.