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105 lines
3.9 KiB
C
Executable File
105 lines
3.9 KiB
C
Executable File
/*! \file servo.h \brief Interrupt-driven RC Servo function library. */
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//*****************************************************************************
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//
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// File Name : 'servo.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 : 7/31/2002
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// Revised : 8/02/2002
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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 SERVO_H
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#define SERVO_H
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#include "global.h"
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#include "timer.h"
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// include configuration
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#include "servoconf.h"
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typedef struct struct_ServoChannel
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{
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// hardware I/O port and pin for this channel
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u08 port;
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u08 pin;
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// PWM duty setting which corresponds to servo position
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u16 duty;
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} ServoChannelType;
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// functions
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// initializes servo system
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// You must run this to begin servo control
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void servoInit(void);
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// turns off servo system
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// This stops controlling the servos and
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// returns control of the SERVOPORT to your code
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void servoOff(void);
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// set the port and I/O pin you wish to use for a given channel
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// If you do not assign a port and I/O pin for a channel (ie. you don't
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// use this command) then all output will be done through the
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// SERVO_DEFAULT_PORT. See above definition of SERVO_DEFAULT_PORT.
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void servoSetChannelIO(u08 channel, u08 port, u08 pin);
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// set and get servo position on a given channel
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// servoSetPosition() commands the servo on <channel> to the position you
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// desire. The position input must lie between 0 and POSITION_MAX and
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// will be automatically scaled to raw positions between SERVO_MIN and
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// SERVO_MAX
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// servoGetPosition() returns the most recently set postition of the
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// servo on <channel>. The return value will be scaled 0->POSITION_MAX
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void servoSetPosition(u08 channel, u08 position);
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u08 servoGetPosition(u08 channel);
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// set and get raw servo position on a given channel
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// Works like non-raw commands but position is not scaled. Position must
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// be between SERVO_MIN and SERVO_MAX
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void servoSetPositionRaw(u08 channel, u16 position);
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u16 servoGetPositionRaw(u08 channel);
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// servo interrupt service routine
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void servoService(void);
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#endif
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