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Servo library to format 1.5 rev.2
This commit is contained in:
Cristian Maglie
parent
03a7cf3212
commit
4b7302692c
@ -1,10 +1,8 @@
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name=Servo
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author=
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email=
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version=1.0
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author=Michael Margolis, Arduino
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maintainer=Arduino <info@arduino.cc>
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sentence=Controls a lot of Servos.
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paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />On the Arduino Due you can control up to 60 servos.<br />
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url=http://arduino.cc/en/Reference/Servo
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architectures=avr,sam
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version=1.0
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dependencies=
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core-dependencies=arduino (>=1.5.0)
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@ -59,7 +59,13 @@
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*/
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// Architecture specific include
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#include <ServoTimers.h>
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#if defined(ARDUINO_ARCH_AVR)
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#include "avr/ServoTimers.h"
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#elif defined(ARDUINO_ARCH_SAM)
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#include "sam/ServoTimers.h"
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#else
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#error "This library only supports boards with an AVR or SAM processor."
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#endif
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#define Servo_VERSION 2 // software version of this library
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@ -1,313 +1,317 @@
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/*
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Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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Copyright (c) 2009 Michael Margolis. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include <avr/interrupt.h>
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#include <Arduino.h>
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#include "Servo.h"
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#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
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#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
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#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
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//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
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static servo_t servos[MAX_SERVOS]; // static array of servo structures
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static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
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uint8_t ServoCount = 0; // the total number of attached servos
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// convenience macros
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#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
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#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
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#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
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#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
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#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
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/************ static functions common to all instances ***********************/
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static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
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{
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if( Channel[timer] < 0 )
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*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
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else{
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if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
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}
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Channel[timer]++; // increment to the next channel
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if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
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*OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
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if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
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}
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else {
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// finished all channels so wait for the refresh period to expire before starting over
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if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed
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*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
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else
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*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
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Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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}
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}
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#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
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// Interrupt handlers for Arduino
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#if defined(_useTimer1)
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SIGNAL (TIMER1_COMPA_vect)
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{
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handle_interrupts(_timer1, &TCNT1, &OCR1A);
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}
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#endif
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#if defined(_useTimer3)
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SIGNAL (TIMER3_COMPA_vect)
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{
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handle_interrupts(_timer3, &TCNT3, &OCR3A);
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}
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#endif
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#if defined(_useTimer4)
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SIGNAL (TIMER4_COMPA_vect)
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{
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handle_interrupts(_timer4, &TCNT4, &OCR4A);
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}
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#endif
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#if defined(_useTimer5)
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SIGNAL (TIMER5_COMPA_vect)
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{
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handle_interrupts(_timer5, &TCNT5, &OCR5A);
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}
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#endif
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#elif defined WIRING
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// Interrupt handlers for Wiring
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#if defined(_useTimer1)
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void Timer1Service()
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{
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handle_interrupts(_timer1, &TCNT1, &OCR1A);
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}
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#endif
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#if defined(_useTimer3)
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void Timer3Service()
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{
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handle_interrupts(_timer3, &TCNT3, &OCR3A);
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}
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#endif
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#endif
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static void initISR(timer16_Sequence_t timer)
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{
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#if defined (_useTimer1)
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if(timer == _timer1) {
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TCCR1A = 0; // normal counting mode
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TCCR1B = _BV(CS11); // set prescaler of 8
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TCNT1 = 0; // clear the timer count
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#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
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TIFR |= _BV(OCF1A); // clear any pending interrupts;
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TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
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#else
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// here if not ATmega8 or ATmega128
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TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
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TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
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#endif
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#if defined(WIRING)
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timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
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#endif
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}
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#endif
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#if defined (_useTimer3)
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if(timer == _timer3) {
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TCCR3A = 0; // normal counting mode
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TCCR3B = _BV(CS31); // set prescaler of 8
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TCNT3 = 0; // clear the timer count
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#if defined(__AVR_ATmega128__)
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TIFR |= _BV(OCF3A); // clear any pending interrupts;
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ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
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#else
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TIFR3 = _BV(OCF3A); // clear any pending interrupts;
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TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
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#endif
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#if defined(WIRING)
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timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
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#endif
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}
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#endif
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#if defined (_useTimer4)
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if(timer == _timer4) {
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TCCR4A = 0; // normal counting mode
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TCCR4B = _BV(CS41); // set prescaler of 8
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TCNT4 = 0; // clear the timer count
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TIFR4 = _BV(OCF4A); // clear any pending interrupts;
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TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
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}
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#endif
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#if defined (_useTimer5)
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if(timer == _timer5) {
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TCCR5A = 0; // normal counting mode
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TCCR5B = _BV(CS51); // set prescaler of 8
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TCNT5 = 0; // clear the timer count
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TIFR5 = _BV(OCF5A); // clear any pending interrupts;
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TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
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}
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#endif
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}
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static void finISR(timer16_Sequence_t timer)
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{
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//disable use of the given timer
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#if defined WIRING // Wiring
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if(timer == _timer1) {
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#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
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TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
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#else
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TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
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#endif
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timerDetach(TIMER1OUTCOMPAREA_INT);
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}
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else if(timer == _timer3) {
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#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
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TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
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#else
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ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
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#endif
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timerDetach(TIMER3OUTCOMPAREA_INT);
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}
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#else
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//For arduino - in future: call here to a currently undefined function to reset the timer
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#endif
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}
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static boolean isTimerActive(timer16_Sequence_t timer)
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{
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// returns true if any servo is active on this timer
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for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
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if(SERVO(timer,channel).Pin.isActive == true)
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return true;
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}
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return false;
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}
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/****************** end of static functions ******************************/
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Servo::Servo()
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{
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if( ServoCount < MAX_SERVOS) {
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this->servoIndex = ServoCount++; // assign a servo index to this instance
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servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
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}
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else
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this->servoIndex = INVALID_SERVO ; // too many servos
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}
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uint8_t Servo::attach(int pin)
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{
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return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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}
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uint8_t Servo::attach(int pin, int min, int max)
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{
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if(this->servoIndex < MAX_SERVOS ) {
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pinMode( pin, OUTPUT) ; // set servo pin to output
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servos[this->servoIndex].Pin.nbr = pin;
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// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
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this->max = (MAX_PULSE_WIDTH - max)/4;
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// initialize the timer if it has not already been initialized
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timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
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if(isTimerActive(timer) == false)
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initISR(timer);
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servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
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}
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return this->servoIndex ;
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}
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void Servo::detach()
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{
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servos[this->servoIndex].Pin.isActive = false;
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timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
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if(isTimerActive(timer) == false) {
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finISR(timer);
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}
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}
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void Servo::write(int value)
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{
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if(value < MIN_PULSE_WIDTH)
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{ // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
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if(value < 0) value = 0;
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if(value > 180) value = 180;
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value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
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}
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this->writeMicroseconds(value);
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}
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void Servo::writeMicroseconds(int value)
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{
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// calculate and store the values for the given channel
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byte channel = this->servoIndex;
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if( (channel < MAX_SERVOS) ) // ensure channel is valid
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{
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if( value < SERVO_MIN() ) // ensure pulse width is valid
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value = SERVO_MIN();
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else if( value > SERVO_MAX() )
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value = SERVO_MAX();
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value = value - TRIM_DURATION;
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value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
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uint8_t oldSREG = SREG;
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cli();
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servos[channel].ticks = value;
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SREG = oldSREG;
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}
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}
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int Servo::read() // return the value as degrees
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{
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return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
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}
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int Servo::readMicroseconds()
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{
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unsigned int pulsewidth;
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if( this->servoIndex != INVALID_SERVO )
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pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009
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else
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pulsewidth = 0;
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return pulsewidth;
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}
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bool Servo::attached()
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{
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return servos[this->servoIndex].Pin.isActive ;
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}
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/*
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Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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Copyright (c) 2009 Michael Margolis. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
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Lesser General Public License for more details.
|
||||
|
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You should have received a copy of the GNU Lesser General Public
|
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License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#if defined(ARDUINO_ARCH_AVR)
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#include <avr/interrupt.h>
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#include <Arduino.h>
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#include "Servo.h"
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#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
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#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
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#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
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//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
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static servo_t servos[MAX_SERVOS]; // static array of servo structures
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static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
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uint8_t ServoCount = 0; // the total number of attached servos
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// convenience macros
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#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
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#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
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#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
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#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
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#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
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/************ static functions common to all instances ***********************/
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static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
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{
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if( Channel[timer] < 0 )
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*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
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else{
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if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
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}
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Channel[timer]++; // increment to the next channel
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if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
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*OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
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if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
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}
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else {
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// finished all channels so wait for the refresh period to expire before starting over
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if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed
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*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
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else
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*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
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Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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}
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}
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#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
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// Interrupt handlers for Arduino
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#if defined(_useTimer1)
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SIGNAL (TIMER1_COMPA_vect)
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{
|
||||
handle_interrupts(_timer1, &TCNT1, &OCR1A);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(_useTimer3)
|
||||
SIGNAL (TIMER3_COMPA_vect)
|
||||
{
|
||||
handle_interrupts(_timer3, &TCNT3, &OCR3A);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(_useTimer4)
|
||||
SIGNAL (TIMER4_COMPA_vect)
|
||||
{
|
||||
handle_interrupts(_timer4, &TCNT4, &OCR4A);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined(_useTimer5)
|
||||
SIGNAL (TIMER5_COMPA_vect)
|
||||
{
|
||||
handle_interrupts(_timer5, &TCNT5, &OCR5A);
|
||||
}
|
||||
#endif
|
||||
|
||||
#elif defined WIRING
|
||||
// Interrupt handlers for Wiring
|
||||
#if defined(_useTimer1)
|
||||
void Timer1Service()
|
||||
{
|
||||
handle_interrupts(_timer1, &TCNT1, &OCR1A);
|
||||
}
|
||||
#endif
|
||||
#if defined(_useTimer3)
|
||||
void Timer3Service()
|
||||
{
|
||||
handle_interrupts(_timer3, &TCNT3, &OCR3A);
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
static void initISR(timer16_Sequence_t timer)
|
||||
{
|
||||
#if defined (_useTimer1)
|
||||
if(timer == _timer1) {
|
||||
TCCR1A = 0; // normal counting mode
|
||||
TCCR1B = _BV(CS11); // set prescaler of 8
|
||||
TCNT1 = 0; // clear the timer count
|
||||
#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
|
||||
TIFR |= _BV(OCF1A); // clear any pending interrupts;
|
||||
TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
|
||||
#else
|
||||
// here if not ATmega8 or ATmega128
|
||||
TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
|
||||
TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
|
||||
#endif
|
||||
#if defined(WIRING)
|
||||
timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (_useTimer3)
|
||||
if(timer == _timer3) {
|
||||
TCCR3A = 0; // normal counting mode
|
||||
TCCR3B = _BV(CS31); // set prescaler of 8
|
||||
TCNT3 = 0; // clear the timer count
|
||||
#if defined(__AVR_ATmega128__)
|
||||
TIFR |= _BV(OCF3A); // clear any pending interrupts;
|
||||
ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
|
||||
#else
|
||||
TIFR3 = _BV(OCF3A); // clear any pending interrupts;
|
||||
TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
|
||||
#endif
|
||||
#if defined(WIRING)
|
||||
timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (_useTimer4)
|
||||
if(timer == _timer4) {
|
||||
TCCR4A = 0; // normal counting mode
|
||||
TCCR4B = _BV(CS41); // set prescaler of 8
|
||||
TCNT4 = 0; // clear the timer count
|
||||
TIFR4 = _BV(OCF4A); // clear any pending interrupts;
|
||||
TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (_useTimer5)
|
||||
if(timer == _timer5) {
|
||||
TCCR5A = 0; // normal counting mode
|
||||
TCCR5B = _BV(CS51); // set prescaler of 8
|
||||
TCNT5 = 0; // clear the timer count
|
||||
TIFR5 = _BV(OCF5A); // clear any pending interrupts;
|
||||
TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
static void finISR(timer16_Sequence_t timer)
|
||||
{
|
||||
//disable use of the given timer
|
||||
#if defined WIRING // Wiring
|
||||
if(timer == _timer1) {
|
||||
#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
|
||||
TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
|
||||
#else
|
||||
TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
|
||||
#endif
|
||||
timerDetach(TIMER1OUTCOMPAREA_INT);
|
||||
}
|
||||
else if(timer == _timer3) {
|
||||
#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
|
||||
TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
|
||||
#else
|
||||
ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
|
||||
#endif
|
||||
timerDetach(TIMER3OUTCOMPAREA_INT);
|
||||
}
|
||||
#else
|
||||
//For arduino - in future: call here to a currently undefined function to reset the timer
|
||||
#endif
|
||||
}
|
||||
|
||||
static boolean isTimerActive(timer16_Sequence_t timer)
|
||||
{
|
||||
// returns true if any servo is active on this timer
|
||||
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
|
||||
if(SERVO(timer,channel).Pin.isActive == true)
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
/****************** end of static functions ******************************/
|
||||
|
||||
Servo::Servo()
|
||||
{
|
||||
if( ServoCount < MAX_SERVOS) {
|
||||
this->servoIndex = ServoCount++; // assign a servo index to this instance
|
||||
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
|
||||
}
|
||||
else
|
||||
this->servoIndex = INVALID_SERVO ; // too many servos
|
||||
}
|
||||
|
||||
uint8_t Servo::attach(int pin)
|
||||
{
|
||||
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
|
||||
}
|
||||
|
||||
uint8_t Servo::attach(int pin, int min, int max)
|
||||
{
|
||||
if(this->servoIndex < MAX_SERVOS ) {
|
||||
pinMode( pin, OUTPUT) ; // set servo pin to output
|
||||
servos[this->servoIndex].Pin.nbr = pin;
|
||||
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
|
||||
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
|
||||
this->max = (MAX_PULSE_WIDTH - max)/4;
|
||||
// initialize the timer if it has not already been initialized
|
||||
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||
if(isTimerActive(timer) == false)
|
||||
initISR(timer);
|
||||
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
|
||||
}
|
||||
return this->servoIndex ;
|
||||
}
|
||||
|
||||
void Servo::detach()
|
||||
{
|
||||
servos[this->servoIndex].Pin.isActive = false;
|
||||
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||
if(isTimerActive(timer) == false) {
|
||||
finISR(timer);
|
||||
}
|
||||
}
|
||||
|
||||
void Servo::write(int value)
|
||||
{
|
||||
if(value < MIN_PULSE_WIDTH)
|
||||
{ // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
|
||||
if(value < 0) value = 0;
|
||||
if(value > 180) value = 180;
|
||||
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
|
||||
}
|
||||
this->writeMicroseconds(value);
|
||||
}
|
||||
|
||||
void Servo::writeMicroseconds(int value)
|
||||
{
|
||||
// calculate and store the values for the given channel
|
||||
byte channel = this->servoIndex;
|
||||
if( (channel < MAX_SERVOS) ) // ensure channel is valid
|
||||
{
|
||||
if( value < SERVO_MIN() ) // ensure pulse width is valid
|
||||
value = SERVO_MIN();
|
||||
else if( value > SERVO_MAX() )
|
||||
value = SERVO_MAX();
|
||||
|
||||
value = value - TRIM_DURATION;
|
||||
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
|
||||
|
||||
uint8_t oldSREG = SREG;
|
||||
cli();
|
||||
servos[channel].ticks = value;
|
||||
SREG = oldSREG;
|
||||
}
|
||||
}
|
||||
|
||||
int Servo::read() // return the value as degrees
|
||||
{
|
||||
return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
|
||||
}
|
||||
|
||||
int Servo::readMicroseconds()
|
||||
{
|
||||
unsigned int pulsewidth;
|
||||
if( this->servoIndex != INVALID_SERVO )
|
||||
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009
|
||||
else
|
||||
pulsewidth = 0;
|
||||
|
||||
return pulsewidth;
|
||||
}
|
||||
|
||||
bool Servo::attached()
|
||||
{
|
||||
return servos[this->servoIndex].Pin.isActive ;
|
||||
}
|
||||
|
||||
#endif // ARDUINO_ARCH_AVR
|
||||
|
||||
@ -17,8 +17,8 @@
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
/*
|
||||
* Defines for 16 bit timers used with Servo library
|
||||
/*
|
||||
* Defines for 16 bit timers used with Servo library
|
||||
*
|
||||
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
|
||||
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
|
||||
@ -33,27 +33,27 @@
|
||||
// Say which 16 bit timers can be used and in what order
|
||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||||
#define _useTimer5
|
||||
#define _useTimer1
|
||||
#define _useTimer1
|
||||
#define _useTimer3
|
||||
#define _useTimer4
|
||||
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
|
||||
#define _useTimer4
|
||||
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t;
|
||||
|
||||
#elif defined(__AVR_ATmega32U4__)
|
||||
#define _useTimer1
|
||||
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
#elif defined(__AVR_ATmega32U4__)
|
||||
#define _useTimer1
|
||||
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
|
||||
|
||||
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
|
||||
#define _useTimer3
|
||||
#define _useTimer1
|
||||
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t;
|
||||
|
||||
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
|
||||
#define _useTimer3
|
||||
#define _useTimer1
|
||||
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t;
|
||||
|
||||
#else // everything else
|
||||
#define _useTimer1
|
||||
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
|
||||
#endif
|
||||
|
||||
@ -1,284 +1,283 @@
|
||||
/*
|
||||
Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers - Version 2
|
||||
Copyright (c) 2009 Michael Margolis. All right reserved.
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library 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
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <Servo.h>
|
||||
|
||||
#define usToTicks(_us) (( clockCyclesPerMicrosecond() * _us) / 32) // converts microseconds to tick
|
||||
#define ticksToUs(_ticks) (( (unsigned)_ticks * 32)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
|
||||
|
||||
|
||||
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
|
||||
|
||||
static servo_t servos[MAX_SERVOS]; // static array of servo structures
|
||||
|
||||
uint8_t ServoCount = 0; // the total number of attached servos
|
||||
|
||||
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
|
||||
|
||||
// convenience macros
|
||||
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
|
||||
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
|
||||
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
|
||||
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
|
||||
|
||||
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
|
||||
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
|
||||
|
||||
/************ static functions common to all instances ***********************/
|
||||
|
||||
|
||||
//timer16_Sequence_t timer;
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
/// Interrupt handler for the TC0 channel 1.
|
||||
//------------------------------------------------------------------------------
|
||||
void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
|
||||
#if defined (_useTimer1)
|
||||
void HANDLER_FOR_TIMER1(void) {
|
||||
Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
|
||||
}
|
||||
#endif
|
||||
#if defined (_useTimer2)
|
||||
void HANDLER_FOR_TIMER2(void) {
|
||||
Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
|
||||
}
|
||||
#endif
|
||||
#if defined (_useTimer3)
|
||||
void HANDLER_FOR_TIMER3(void) {
|
||||
Servo_Handler(_timer3, TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
|
||||
}
|
||||
#endif
|
||||
#if defined (_useTimer4)
|
||||
void HANDLER_FOR_TIMER4(void) {
|
||||
Servo_Handler(_timer4, TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
|
||||
}
|
||||
#endif
|
||||
#if defined (_useTimer5)
|
||||
void HANDLER_FOR_TIMER5(void) {
|
||||
Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
|
||||
}
|
||||
#endif
|
||||
|
||||
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel)
|
||||
{
|
||||
// clear interrupt
|
||||
tc->TC_CHANNEL[channel].TC_SR;
|
||||
if (Channel[timer] < 0) {
|
||||
tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
|
||||
} else {
|
||||
if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true) {
|
||||
digitalWrite(SERVO(timer,Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
|
||||
}
|
||||
}
|
||||
|
||||
Channel[timer]++; // increment to the next channel
|
||||
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
|
||||
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
|
||||
if(SERVO(timer,Channel[timer]).Pin.isActive == true) { // check if activated
|
||||
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
|
||||
}
|
||||
}
|
||||
else {
|
||||
// finished all channels so wait for the refresh period to expire before starting over
|
||||
if( (tc->TC_CHANNEL[channel].TC_CV) + 4 < usToTicks(REFRESH_INTERVAL) ) { // allow a few ticks to ensure the next OCR1A not missed
|
||||
tc->TC_CHANNEL[channel].TC_RA = (unsigned int)usToTicks(REFRESH_INTERVAL);
|
||||
}
|
||||
else {
|
||||
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
|
||||
}
|
||||
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
|
||||
}
|
||||
}
|
||||
|
||||
static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn)
|
||||
{
|
||||
pmc_enable_periph_clk(id);
|
||||
TC_Configure(tc, channel,
|
||||
TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
|
||||
TC_CMR_WAVE | // Waveform mode
|
||||
TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC
|
||||
|
||||
/* 84MHz, MCK/32, for 1.5ms: 3937 */
|
||||
TC_SetRA(tc, channel, 2625); // 1ms
|
||||
|
||||
/* Configure and enable interrupt */
|
||||
NVIC_EnableIRQ(irqn);
|
||||
// TC_IER_CPAS: RA Compare
|
||||
tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
|
||||
|
||||
// Enables the timer clock and performs a software reset to start the counting
|
||||
TC_Start(tc, channel);
|
||||
}
|
||||
|
||||
static void initISR(timer16_Sequence_t timer)
|
||||
{
|
||||
#if defined (_useTimer1)
|
||||
if (timer == _timer1)
|
||||
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
|
||||
#endif
|
||||
#if defined (_useTimer2)
|
||||
if (timer == _timer2)
|
||||
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
|
||||
#endif
|
||||
#if defined (_useTimer3)
|
||||
if (timer == _timer3)
|
||||
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
|
||||
#endif
|
||||
#if defined (_useTimer4)
|
||||
if (timer == _timer4)
|
||||
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
|
||||
#endif
|
||||
#if defined (_useTimer5)
|
||||
if (timer == _timer5)
|
||||
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void finISR(timer16_Sequence_t timer)
|
||||
{
|
||||
#if defined (_useTimer1)
|
||||
TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
|
||||
#endif
|
||||
#if defined (_useTimer2)
|
||||
TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
|
||||
#endif
|
||||
#if defined (_useTimer3)
|
||||
TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
|
||||
#endif
|
||||
#if defined (_useTimer4)
|
||||
TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
|
||||
#endif
|
||||
#if defined (_useTimer5)
|
||||
TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
static boolean isTimerActive(timer16_Sequence_t timer)
|
||||
{
|
||||
// returns true if any servo is active on this timer
|
||||
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
|
||||
if(SERVO(timer,channel).Pin.isActive == true)
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
/****************** end of static functions ******************************/
|
||||
|
||||
Servo::Servo()
|
||||
{
|
||||
if (ServoCount < MAX_SERVOS) {
|
||||
this->servoIndex = ServoCount++; // assign a servo index to this instance
|
||||
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values
|
||||
} else {
|
||||
this->servoIndex = INVALID_SERVO; // too many servos
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t Servo::attach(int pin)
|
||||
{
|
||||
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
|
||||
}
|
||||
|
||||
uint8_t Servo::attach(int pin, int min, int max)
|
||||
{
|
||||
timer16_Sequence_t timer;
|
||||
|
||||
if (this->servoIndex < MAX_SERVOS) {
|
||||
pinMode(pin, OUTPUT); // set servo pin to output
|
||||
servos[this->servoIndex].Pin.nbr = pin;
|
||||
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
|
||||
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
|
||||
this->max = (MAX_PULSE_WIDTH - max)/4;
|
||||
// initialize the timer if it has not already been initialized
|
||||
timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||
if (isTimerActive(timer) == false) {
|
||||
initISR(timer);
|
||||
}
|
||||
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
|
||||
}
|
||||
return this->servoIndex;
|
||||
}
|
||||
|
||||
void Servo::detach()
|
||||
{
|
||||
timer16_Sequence_t timer;
|
||||
|
||||
servos[this->servoIndex].Pin.isActive = false;
|
||||
timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||
if(isTimerActive(timer) == false) {
|
||||
finISR(timer);
|
||||
}
|
||||
}
|
||||
|
||||
void Servo::write(int value)
|
||||
{
|
||||
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
|
||||
if (value < MIN_PULSE_WIDTH)
|
||||
{
|
||||
if (value < 0)
|
||||
value = 0;
|
||||
else if (value > 180)
|
||||
value = 180;
|
||||
|
||||
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
|
||||
}
|
||||
writeMicroseconds(value);
|
||||
}
|
||||
|
||||
void Servo::writeMicroseconds(int value)
|
||||
{
|
||||
// calculate and store the values for the given channel
|
||||
byte channel = this->servoIndex;
|
||||
if( (channel < MAX_SERVOS) ) // ensure channel is valid
|
||||
{
|
||||
if (value < SERVO_MIN()) // ensure pulse width is valid
|
||||
value = SERVO_MIN();
|
||||
else if (value > SERVO_MAX())
|
||||
value = SERVO_MAX();
|
||||
|
||||
value = value - TRIM_DURATION;
|
||||
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead
|
||||
servos[channel].ticks = value;
|
||||
}
|
||||
}
|
||||
|
||||
int Servo::read() // return the value as degrees
|
||||
{
|
||||
return map(readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
|
||||
}
|
||||
|
||||
int Servo::readMicroseconds()
|
||||
{
|
||||
unsigned int pulsewidth;
|
||||
if (this->servoIndex != INVALID_SERVO)
|
||||
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
|
||||
else
|
||||
pulsewidth = 0;
|
||||
|
||||
return pulsewidth;
|
||||
}
|
||||
|
||||
bool Servo::attached()
|
||||
{
|
||||
return servos[this->servoIndex].Pin.isActive;
|
||||
}
|
||||
|
||||
/*
|
||||
Copyright (c) 2013 Arduino LLC. All right reserved.
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
This library 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
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
#if defined(ARDUINO_ARCH_SAM)
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <Servo.h>
|
||||
|
||||
#define usToTicks(_us) (( clockCyclesPerMicrosecond() * _us) / 32) // converts microseconds to tick
|
||||
#define ticksToUs(_ticks) (( (unsigned)_ticks * 32)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
|
||||
|
||||
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
|
||||
|
||||
static servo_t servos[MAX_SERVOS]; // static array of servo structures
|
||||
|
||||
uint8_t ServoCount = 0; // the total number of attached servos
|
||||
|
||||
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
|
||||
|
||||
// convenience macros
|
||||
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
|
||||
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
|
||||
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
|
||||
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
|
||||
|
||||
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
|
||||
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
|
||||
|
||||
/************ static functions common to all instances ***********************/
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
/// Interrupt handler for the TC0 channel 1.
|
||||
//------------------------------------------------------------------------------
|
||||
void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
|
||||
#if defined (_useTimer1)
|
||||
void HANDLER_FOR_TIMER1(void) {
|
||||
Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
|
||||
}
|
||||
#endif
|
||||
#if defined (_useTimer2)
|
||||
void HANDLER_FOR_TIMER2(void) {
|
||||
Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
|
||||
}
|
||||
#endif
|
||||
#if defined (_useTimer3)
|
||||
void HANDLER_FOR_TIMER3(void) {
|
||||
Servo_Handler(_timer3, TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
|
||||
}
|
||||
#endif
|
||||
#if defined (_useTimer4)
|
||||
void HANDLER_FOR_TIMER4(void) {
|
||||
Servo_Handler(_timer4, TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
|
||||
}
|
||||
#endif
|
||||
#if defined (_useTimer5)
|
||||
void HANDLER_FOR_TIMER5(void) {
|
||||
Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
|
||||
}
|
||||
#endif
|
||||
|
||||
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel)
|
||||
{
|
||||
// clear interrupt
|
||||
tc->TC_CHANNEL[channel].TC_SR;
|
||||
if (Channel[timer] < 0) {
|
||||
tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
|
||||
} else {
|
||||
if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true) {
|
||||
digitalWrite(SERVO(timer,Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
|
||||
}
|
||||
}
|
||||
|
||||
Channel[timer]++; // increment to the next channel
|
||||
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
|
||||
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
|
||||
if(SERVO(timer,Channel[timer]).Pin.isActive == true) { // check if activated
|
||||
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
|
||||
}
|
||||
}
|
||||
else {
|
||||
// finished all channels so wait for the refresh period to expire before starting over
|
||||
if( (tc->TC_CHANNEL[channel].TC_CV) + 4 < usToTicks(REFRESH_INTERVAL) ) { // allow a few ticks to ensure the next OCR1A not missed
|
||||
tc->TC_CHANNEL[channel].TC_RA = (unsigned int)usToTicks(REFRESH_INTERVAL);
|
||||
}
|
||||
else {
|
||||
tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
|
||||
}
|
||||
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
|
||||
}
|
||||
}
|
||||
|
||||
static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn)
|
||||
{
|
||||
pmc_enable_periph_clk(id);
|
||||
TC_Configure(tc, channel,
|
||||
TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
|
||||
TC_CMR_WAVE | // Waveform mode
|
||||
TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC
|
||||
|
||||
/* 84MHz, MCK/32, for 1.5ms: 3937 */
|
||||
TC_SetRA(tc, channel, 2625); // 1ms
|
||||
|
||||
/* Configure and enable interrupt */
|
||||
NVIC_EnableIRQ(irqn);
|
||||
// TC_IER_CPAS: RA Compare
|
||||
tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
|
||||
|
||||
// Enables the timer clock and performs a software reset to start the counting
|
||||
TC_Start(tc, channel);
|
||||
}
|
||||
|
||||
static void initISR(timer16_Sequence_t timer)
|
||||
{
|
||||
#if defined (_useTimer1)
|
||||
if (timer == _timer1)
|
||||
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
|
||||
#endif
|
||||
#if defined (_useTimer2)
|
||||
if (timer == _timer2)
|
||||
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
|
||||
#endif
|
||||
#if defined (_useTimer3)
|
||||
if (timer == _timer3)
|
||||
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
|
||||
#endif
|
||||
#if defined (_useTimer4)
|
||||
if (timer == _timer4)
|
||||
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
|
||||
#endif
|
||||
#if defined (_useTimer5)
|
||||
if (timer == _timer5)
|
||||
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void finISR(timer16_Sequence_t timer)
|
||||
{
|
||||
#if defined (_useTimer1)
|
||||
TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
|
||||
#endif
|
||||
#if defined (_useTimer2)
|
||||
TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
|
||||
#endif
|
||||
#if defined (_useTimer3)
|
||||
TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
|
||||
#endif
|
||||
#if defined (_useTimer4)
|
||||
TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
|
||||
#endif
|
||||
#if defined (_useTimer5)
|
||||
TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
static boolean isTimerActive(timer16_Sequence_t timer)
|
||||
{
|
||||
// returns true if any servo is active on this timer
|
||||
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
|
||||
if(SERVO(timer,channel).Pin.isActive == true)
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
/****************** end of static functions ******************************/
|
||||
|
||||
Servo::Servo()
|
||||
{
|
||||
if (ServoCount < MAX_SERVOS) {
|
||||
this->servoIndex = ServoCount++; // assign a servo index to this instance
|
||||
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values
|
||||
} else {
|
||||
this->servoIndex = INVALID_SERVO; // too many servos
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t Servo::attach(int pin)
|
||||
{
|
||||
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
|
||||
}
|
||||
|
||||
uint8_t Servo::attach(int pin, int min, int max)
|
||||
{
|
||||
timer16_Sequence_t timer;
|
||||
|
||||
if (this->servoIndex < MAX_SERVOS) {
|
||||
pinMode(pin, OUTPUT); // set servo pin to output
|
||||
servos[this->servoIndex].Pin.nbr = pin;
|
||||
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
|
||||
this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
|
||||
this->max = (MAX_PULSE_WIDTH - max)/4;
|
||||
// initialize the timer if it has not already been initialized
|
||||
timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||
if (isTimerActive(timer) == false) {
|
||||
initISR(timer);
|
||||
}
|
||||
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
|
||||
}
|
||||
return this->servoIndex;
|
||||
}
|
||||
|
||||
void Servo::detach()
|
||||
{
|
||||
timer16_Sequence_t timer;
|
||||
|
||||
servos[this->servoIndex].Pin.isActive = false;
|
||||
timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
||||
if(isTimerActive(timer) == false) {
|
||||
finISR(timer);
|
||||
}
|
||||
}
|
||||
|
||||
void Servo::write(int value)
|
||||
{
|
||||
// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
|
||||
if (value < MIN_PULSE_WIDTH)
|
||||
{
|
||||
if (value < 0)
|
||||
value = 0;
|
||||
else if (value > 180)
|
||||
value = 180;
|
||||
|
||||
value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
|
||||
}
|
||||
writeMicroseconds(value);
|
||||
}
|
||||
|
||||
void Servo::writeMicroseconds(int value)
|
||||
{
|
||||
// calculate and store the values for the given channel
|
||||
byte channel = this->servoIndex;
|
||||
if( (channel < MAX_SERVOS) ) // ensure channel is valid
|
||||
{
|
||||
if (value < SERVO_MIN()) // ensure pulse width is valid
|
||||
value = SERVO_MIN();
|
||||
else if (value > SERVO_MAX())
|
||||
value = SERVO_MAX();
|
||||
|
||||
value = value - TRIM_DURATION;
|
||||
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead
|
||||
servos[channel].ticks = value;
|
||||
}
|
||||
}
|
||||
|
||||
int Servo::read() // return the value as degrees
|
||||
{
|
||||
return map(readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
|
||||
}
|
||||
|
||||
int Servo::readMicroseconds()
|
||||
{
|
||||
unsigned int pulsewidth;
|
||||
if (this->servoIndex != INVALID_SERVO)
|
||||
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
|
||||
else
|
||||
pulsewidth = 0;
|
||||
|
||||
return pulsewidth;
|
||||
}
|
||||
|
||||
bool Servo::attached()
|
||||
{
|
||||
return servos[this->servoIndex].Pin.isActive;
|
||||
}
|
||||
|
||||
#endif // ARDUINO_ARCH_SAM
|
||||
|
||||
@ -1,6 +1,5 @@
|
||||
/*
|
||||
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||||
Copyright (c) 2009 Michael Margolis. All right reserved.
|
||||
Copyright (c) 2013 Arduino LLC. All right reserved.
|
||||
|
||||
This library is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU Lesser General Public
|
||||
@ -9,16 +8,16 @@
|
||||
|
||||
This library 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
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU Lesser General Public
|
||||
License along with this library; if not, write to the Free Software
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*/
|
||||
|
||||
/*
|
||||
* Defines for 16 bit timers used with Servo library
|
||||
/*
|
||||
* Defines for 16 bit timers used with Servo library
|
||||
*
|
||||
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
|
||||
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
|
||||
Loading…
Reference in New Issue
Block a user