Servo library to the new format

1 files changed, 0 insertions, 337 deletions

diff --git a/libraries/Servo/Servo.cpp b/libraries/Servo/Servo.cpp
deleted file mode 100644
index a17ed34..0000000
--- a/libraries/Servo/Servo.cpp
+++ /dev/null
@@ -1,337 +0,0 @@
-/*

- 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

- */

-

-/* 

- 

- A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.

- The servos are pulsed in the background using the value most recently written using the write() method

- 

- Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.

- Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.

- 

- The methods are:

- 

- Servo - Class for manipulating servo motors connected to Arduino pins.

- 

- attach(pin )  - Attaches a servo motor to an i/o pin.

- attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds

- default min is 544, max is 2400  

- 

- write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)

- writeMicroseconds() - Sets the servo pulse width in microseconds 

- read()      - Gets the last written servo pulse width as an angle between 0 and 180. 

- readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)

- attached()  - Returns true if there is a servo attached. 

- detach()    - Stops an attached servos from pulsing its i/o pin. 

- 

-*/

-

-#include <avr/interrupt.h>

-#include <Arduino.h> 

-

-#include "Servo.h"

-

-#define usToTicks(_us)    (( clockCyclesPerMicrosecond()* _us) / 8)     // converts microseconds to tick (assumes prescale of 8)  // 12 Aug 2009

-#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds

-

-

-#define TRIM_DURATION       2                               // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009

-

-//#define NBR_TIMERS        (MAX_SERVOS / SERVOS_PER_TIMER)

-

-static servo_t servos[MAX_SERVOS];                          // static array of servo structures

-static volatile int8_t Channel[_Nbr_16timers ];             // counter for the servo being pulsed for each timer (or -1 if refresh interval)

-

-uint8_t ServoCount = 0;                                     // the total number of attached servos

-

-

-// 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 ***********************/

-

-static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)

-{

-  if( Channel[timer] < 0 )

-    *TCNTn = 0; // 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) {

-    *OCRnA = *TCNTn + 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( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed

-      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);  

-    else 

-      *OCRnA = *TCNTn + 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

-  }

-}

-

-#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform

-// Interrupt handlers for Arduino 

-#if defined(_useTimer1)

-ISR(TIMER1_COMPA_vect) 

-{ 

-  handle_interrupts(_timer1, &TCNT1, &OCR1A); 

-}

-#endif

-

-#if defined(_useTimer3)

-ISR(TIMER3_COMPA_vect) 

-{ 

-  handle_interrupts(_timer3, &TCNT3, &OCR3A); 

-}

-#endif

-

-#if defined(_useTimer4)

-ISR(TIMER4_COMPA_vect) 

-{

-  handle_interrupts(_timer4, &TCNT4, &OCR4A); 

-}

-#endif

-

-#if defined(_useTimer5)

-ISR(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 ;

-}