Use commands from serial rather than ADC input Use channel 0 Use "non-inverted" output

diff --git a/servomotor/main.c b/servomotor/main.c
index a01d657..ce151f3 100644 (file)
--- a/servomotor/main.c
+++ b/servomotor/main.c
@@ -29,7 +29,6 @@
 #include "drivers/serial.h"
 #include "drivers/gpio.h"
 #include "extdrv/status_led.h"
-#include "drivers/adc.h"
 #include "drivers/timers.h"
 
 
@@ -43,7 +42,7 @@
  *  - inverted one (3), for use with a single transistor
  *  - non inverted (40 - 3), for use with two transistors (or none).
  */
-#define DUTY_INVERTED 1
+#define DUTY_INVERTED 0
 #if (DUTY_INVERTED == 1)
 #define SERVO_MED_POS_DUTY_CYCLE  3
 #else
@@ -62,23 +61,14 @@ const struct pio_config common_pins[] = {
        /* UART 0 */
        { LPC_UART0_RX_PIO_0_1,  LPC_IO_DIGITAL },
        { LPC_UART0_TX_PIO_0_2,  LPC_IO_DIGITAL },
-       /* TIMER_32B0 */
-       { LPC_TIMER_32B0_M1_PIO_0_19, LPC_TIMER_PIN_CONFIG },
+       /* TIMER_32B1 */
+       { LPC_TIMER_32B1_M0_PIO_0_23, LPC_TIMER_PIN_CONFIG },
        ARRAY_LAST_PIO,
 };
 
-const struct pio_config adc_pins[] = {
-       { LPC_ADC_AD0_PIO_0_30, LPC_IO_ANALOG },
-       { LPC_ADC_AD1_PIO_0_31, LPC_IO_ANALOG },
-       { LPC_ADC_AD2_PIO_1_0,  LPC_IO_ANALOG },
-       { LPC_ADC_AD3_PIO_1_1,  LPC_IO_ANALOG },
-       { LPC_ADC_AD4_PIO_1_2,  LPC_IO_ANALOG },
-       { LPC_ADC_AD5_PIO_1_3,  LPC_IO_ANALOG },
-       ARRAY_LAST_PIO,
-};
 
-const struct pio status_led_green = LPC_GPIO_1_4;
-const struct pio status_led_red = LPC_GPIO_1_5;
+const struct pio status_led_green = LPC_GPIO_0_28;
+const struct pio status_led_red = LPC_GPIO_0_29;
 
 /***************************************************************************** */
 static uint32_t servo_med_pos_cmd = 0;
@@ -93,14 +83,6 @@ int servo_config(uint8_t timer_num, uint8_t pwm_chan, uint8_t uart_num)
                .period_chan = 3,
        };
 
-       if (timer_num > LPC_TIMER_32B1) {
-               uprintf(uart_num, "Bad timer number\n");
-               return -1;
-       }
-       if (pwm_chan >= 3) {
-               uprintf(uart_num, "Bad channel number\n");
-               return -1;
-       }
        timer = timer_num;
        channel = pwm_chan;
        timer_conf.outputs[0] = pwm_chan;
@@ -124,17 +106,13 @@ int servo_config(uint8_t timer_num, uint8_t pwm_chan, uint8_t uart_num)
        return 0;
 }
 
-int set_servo(int adc_num, int uart_num)
+int set_servo(int c, int uart_num)
 {
        uint16_t val = 0, angle = 0;
        uint32_t pos = servo_med_pos_cmd;
 
-       adc_start_convertion_once(adc_num, LPC_ADC_SEQ(0), 0);
-       msleep(10);
-       adc_get_value(&val, adc_num);
-       uprintf(uart_num, "ADC(%d): %d (raw: 0x%04x)\n", adc_num, val, val);
-
-       angle = ((val * 10) / 56);
+       val = c - '0';
+       angle = (val * 20);
        if (angle > 180) {
                angle = 180;
        }
@@ -151,6 +129,12 @@ int set_servo(int adc_num, int uart_num)
 }
 
 
+volatile int set_pos = -1;
+void change_pos(uint8_t c)
+{
+       set_pos = c;
+}
+
 /***************************************************************************** */
 void system_init()
 {
@@ -159,7 +143,6 @@ void system_init()
        system_set_default_power_state();
        clock_config(SELECTED_FREQ);
        set_pins(common_pins);
-       set_pins(adc_pins);
        gpio_on();
        status_led_config(&status_led_green, &status_led_red);
        /* System tick timer MUST be configured and running in order to use the sleeping
@@ -185,14 +168,16 @@ void fault_info(const char* name, uint32_t len)
 int main(void)
 {
        system_init();
-       uart_on(UART0, 115200, NULL);
-       adc_on(NULL);
-       servo_config(LPC_TIMER_32B0, 1, 0);
+       uart_on(UART0, 115200, change_pos);
+
+       servo_config(LPC_TIMER_32B1, 0, UART0);
 
        while (1) {
                chenillard(500);
-               /* ADC Test */
-               set_servo(LPC_ADC(0), 0);
+               if (set_pos != -1) {
+                       set_servo(set_pos, UART0);
+                       set_pos = -1;
+               }
        }
        return 0;
 }