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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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4
Tlc5940.h
View File

@@ -50,8 +50,8 @@
#define disable_XLAT_pulses() TCCR1A = _BV(COM1B1)
#elif defined(__arm__) && defined(TEENSYDUINO)
#define set_XLAT_interrupt() { uint32_t tmp __attribute__((unused)) = FTM1_SC; FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS | FTM_SC_TOIE; }
#define clear_XLAT_interrupt() FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS
#define set_XLAT_interrupt() FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS | FTM_SC_TOIE | (FTM1_SC & FTM_SC_PS(7))
#define clear_XLAT_interrupt() FTM1_SC = FTM_SC_CLKS(1) | FTM_SC_CPWMS | (FTM1_SC & FTM_SC_PS(7))
#define enable_XLAT_pulses() CORE_PIN3_CONFIG = PORT_PCR_MUX(3)|PORT_PCR_DSE|PORT_PCR_SRE
#define disable_XLAT_pulses() CORE_PIN3_CONFIG = PORT_PCR_MUX(1)|PORT_PCR_DSE|PORT_PCR_SRE

39
pinouts/Teensy_KinetisK20.h
View File

@@ -39,38 +39,73 @@
#define TLC_TIMER_TEENSY3_NORMAL_CGL1 11
#define TLC_TIMER_TEENSY3_NORMAL_MOD 30720
#define TLC_TIMER_TEENSY3_NORMAL_CV 4
#define TLC_TIMER_TEENSY3_SERVO_CGH1 58
#define TLC_TIMER_TEENSY3_SERVO_CGL1 235
#define TLC_TIMER_TEENSY3_SERVO_PS 4
#define TLC_TIMER_TEENSY3_SERVO_MOD 37500
#define TLC_TIMER_TEENSY3_SERVO_CV 1
#elif F_BUS == 56000000
#define TLC_TIMER_TEENSY3_NORMAL_CGH1 3
#define TLC_TIMER_TEENSY3_NORMAL_CGL1 11
#define TLC_TIMER_TEENSY3_NORMAL_MOD 28672
#define TLC_TIMER_TEENSY3_NORMAL_CV 3
#define TLC_TIMER_TEENSY3_SERVO_CGH1 54
#define TLC_TIMER_TEENSY3_SERVO_CGL1 219
#define TLC_TIMER_TEENSY3_SERVO_PS 4
#define TLC_TIMER_TEENSY3_SERVO_MOD 35000
#define TLC_TIMER_TEENSY3_SERVO_CV 1
#elif F_BUS == 48000000
#define TLC_TIMER_TEENSY3_NORMAL_CGH1 3
#define TLC_TIMER_TEENSY3_NORMAL_CGL1 9
#define TLC_TIMER_TEENSY3_NORMAL_MOD 24576
#define TLC_TIMER_TEENSY3_NORMAL_CV 3
#define TLC_TIMER_TEENSY3_SERVO_CGH1 47
#define TLC_TIMER_TEENSY3_SERVO_CGL1 187
#define TLC_TIMER_TEENSY3_SERVO_PS 3
#define TLC_TIMER_TEENSY3_SERVO_MOD 60000
#define TLC_TIMER_TEENSY3_SERVO_CV 1
#elif F_BUS == 36000000
#define TLC_TIMER_TEENSY3_NORMAL_CGH1 2
#define TLC_TIMER_TEENSY3_NORMAL_CGL1 7
#define TLC_TIMER_TEENSY3_NORMAL_MOD 18432
#define TLC_TIMER_TEENSY3_NORMAL_CV 2
#define TLC_TIMER_TEENSY3_SERVO_CGH1 35
#define TLC_TIMER_TEENSY3_SERVO_CGL1 141
#define TLC_TIMER_TEENSY3_SERVO_PS 3
#define TLC_TIMER_TEENSY3_SERVO_MOD 45000
#define TLC_TIMER_TEENSY3_SERVO_CV 1
#elif F_BUS == 24000000
#define TLC_TIMER_TEENSY3_NORMAL_CGH1 2
#define TLC_TIMER_TEENSY3_NORMAL_CGL1 4
#define TLC_TIMER_TEENSY3_NORMAL_MOD 12288
#define TLC_TIMER_TEENSY3_NORMAL_CV 2
#define TLC_TIMER_TEENSY3_SERVO_CGH1 23
#define TLC_TIMER_TEENSY3_SERVO_CGL1 94
#define TLC_TIMER_TEENSY3_SERVO_PS 2
#define TLC_TIMER_TEENSY3_SERVO_MOD 60000
#define TLC_TIMER_TEENSY3_SERVO_CV 1
#elif F_BUS == 16000000
#define TLC_TIMER_TEENSY3_NORMAL_CGH1 1
#define TLC_TIMER_TEENSY3_NORMAL_CGL1 3
#define TLC_TIMER_TEENSY3_NORMAL_MOD 8192
#define TLC_TIMER_TEENSY3_NORMAL_CV 1
#elif F_BUS <= 8000000
#define TLC_TIMER_TEENSY3_SERVO_CGH1 16
#define TLC_TIMER_TEENSY3_SERVO_CGL1 62
#define TLC_TIMER_TEENSY3_SERVO_PS 2
#define TLC_TIMER_TEENSY3_SERVO_MOD 40000
#define TLC_TIMER_TEENSY3_SERVO_CV 1
#elif F_BUS == 8000000
#define TLC_TIMER_TEENSY3_NORMAL_CGH1 1
#define TLC_TIMER_TEENSY3_NORMAL_CGL1 1
#define TLC_TIMER_TEENSY3_NORMAL_MOD 4096
#define TLC_TIMER_TEENSY3_NORMAL_CV 1
#define TLC_TIMER_TEENSY3_SERVO_CGH1 8
#define TLC_TIMER_TEENSY3_SERVO_CGL1 31
#define TLC_TIMER_TEENSY3_SERVO_PS 1
#define TLC_TIMER_TEENSY3_SERVO_MOD 40000
#define TLC_TIMER_TEENSY3_SERVO_CV 1
#else
#error "F_BUS must be 60, 56, 48, 36, 24, 16, 8, 4, or 2 MHz"
#error "F_BUS must be 60, 56, 48, 36, 24, 16, 8 MHz"
#endif
#endif

22
tlc_servos.h
View File

@@ -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.