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83 lines
3.5 KiB
C
83 lines
3.5 KiB
C
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/*! \file servoconf.h \brief Interrupt-driven RC Servo configuration. */
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//*****************************************************************************
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//
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// File Name : 'servoconf.h'
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// Title : Interrupt-driven RC Servo function library
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// Author : Pascal Stang - Copyright (C) 2002
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// Created : 07/31/2002
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// Revised : 09/30/2002
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// Version : 1.0
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// Target MCU : Atmel AVR Series
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// Editor Tabs : 4
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//
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// NOTE: you need the latest version (3.2+) of the AVR-GCC compiler to use this
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// function library. Download it from http://www.avrfreaks.net/AVRGCC
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//
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// Description : This code allows you to drive up to 8 RC servos from any
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// combination of ports and pins on the AVR processor. Using interrupts,
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// this code continuously sends control signals to the servo to maintain
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// position even while your code is doing other work.
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//
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// The servoInit and servoOff effectively turn on and turn off servo
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// control. When you run ServoInit, it automatically assigns each
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// "channel" of servo control to be output on the SERVO_DEFAULT_PORT.
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// One "channel" of servo control can control one servo and must be
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// assigned single I/O pin for output.
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//
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// If you're using all eight channels (SERVO_NUM_CHANNELS = 8), then
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// then by default the code will use SERVO_DEFAULT_PORT pins 0-7.
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// If you're only using four channels, then pins 0-3 will be used by
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// default.
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//
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// The command servoSetChannelIO(channel, port, pin) allows you to
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// reassign the output of any channel to any port and I/O pin you
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// choose. For exampe, if you have an RC servo connected to PORTC, pin 6,
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// and you wish to use channel 2 to control it, use:
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//
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// servoSerChannelIO( 2, _SFR_IO_ADDR(PORTC), 6)
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//
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// (NOTE: you must include the "_SRF_IO_ADDR()" part around your port)
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//
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// The servoSetPostion and servoGetPosition commands allow you to command
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// a given servo to your desired position. The position you request must
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// lie between the SERVO_MIN and SERVO_MAX limit you defined.
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//
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// This code is distributed under the GNU Public License
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// which can be found at http://www.gnu.org/licenses/gpl.txt
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//
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//*****************************************************************************
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#ifndef SERVOCONF_H
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#define SERVOCONF_H
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// set number of servo channels (1 to 8)
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// This is the number of servos you would like to drive
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// Each "Channel" can control one servo and by default will
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// map directly to the port pin of the same number on the
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// SERVO_DEFAULT_PORT. You can change this default port/pin
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// assignment for a given channel to any port/pin you like.
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// See the "servoSetChannelIO" function.
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#define SERVO_NUM_CHANNELS 4
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// set default SERVO output port
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// This is the AVR port which you have connected to your servos
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// See top of file for how servo "channels" map to port pins
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#define SERVO_DEFAULT_PORT PORTB
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// set servo characteristics (min and max raw position)
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// You must find these by testing using your brand/type of servos.
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// The min/max settings will change proportional to F_CPU, the CPU
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// clock frequency.
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// The numbers below good for parallax servos at an F_CPU of ~8MHz.
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//#define SERVO_MAX 71
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//#define SERVO_MIN 17
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// The numbers below good for parallax servos at an F_CPU of ~14.745MHz.
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#define SERVO_MAX 138
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#define SERVO_MIN 34
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// set servo scaled range
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// This sets the scaled position range of the servo. Allowed scaled
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// positions are 0 -> SERVO_POSITION_MAX, and correspond to raw
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// positions of SERVO_MIN -> SERVO_MAX.
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#define SERVO_POSITION_MAX 255
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#endif
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