Moved libraries folder inside platform folder. Now libraries and examples are searched per board/platform

5 files changed, 541 insertions, 0 deletions

diff --git a/libraries/Servo/Servo.cpp b/libraries/Servo/Servo.cpp
new file mode 100755
index 0000000..acac29a
--- /dev/null
+++ b/libraries/Servo/Servo.cpp
@@ -0,0 +1,337 @@
+/*

+ 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 <  (usToTicks(REFRESH_INTERVAL) + 4) )  // 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)

+SIGNAL (TIMER1_COMPA_vect) 

+{ 

+  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 >= 0) && (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 ;

+}

diff --git a/libraries/Servo/Servo.h b/libraries/Servo/Servo.h
new file mode 100755
index 0000000..bf3e012
--- /dev/null
+++ b/libraries/Servo/Servo.h
@@ -0,0 +1,127 @@
+/*
+  Servo.h - 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 sequence used to sieze timers is defined in timers.h
+
+  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. 
+ */
+
+#ifndef Servo_h
+#define Servo_h
+
+#include <inttypes.h>
+
+/* 
+ * Defines for 16 bit timers used with  Servo library 
+ *
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ *
+ */
+
+// Say which 16 bit timers can be used and in what order
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define _useTimer5
+#define _useTimer1 
+#define _useTimer3
+#define _useTimer4 
+typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega32U4__)  
+#define _useTimer3
+#define _useTimer1 
+typedef enum { _timer3, _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 ;
+
+#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+#define _useTimer3
+#define _useTimer1
+typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+
+#else  // everything else
+#define _useTimer1
+typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;                  
+#endif
+
+#define Servo_VERSION           2      // software version of this library
+
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo  
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo 
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds 
+
+#define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer 
+#define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+typedef struct  {
+  uint8_t nbr        :6 ;             // a pin number from 0 to 63
+  uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false 
+} ServoPin_t   ;  
+
+typedef struct {
+  ServoPin_t Pin;
+  unsigned int ticks;
+} servo_t;
+
+class Servo
+{
+public:
+  Servo();
+  uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
+  uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. 
+  void detach();
+  void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds 
+  void writeMicroseconds(int value); // Write pulse width in microseconds 
+  int read();                        // returns current pulse width as an angle between 0 and 180 degrees
+  int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
+  bool attached();                   // return true if this servo is attached, otherwise false 
+private:
+   uint8_t servoIndex;               // index into the channel data for this servo
+   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH    
+   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH   
+};
+
+#endif
\ No newline at end of file
diff --git a/libraries/Servo/examples/Knob/Knob.ino b/libraries/Servo/examples/Knob/Knob.ino
new file mode 100644
index 0000000..886e107
--- /dev/null
+++ b/libraries/Servo/examples/Knob/Knob.ino
@@ -0,0 +1,22 @@
+// Controlling a servo position using a potentiometer (variable resistor) 
+// by Michal Rinott <http://people.interaction-ivrea.it/m.rinott> 
+
+#include <Servo.h> 
+ 
+Servo myservo;  // create servo object to control a servo 
+ 
+int potpin = 0;  // analog pin used to connect the potentiometer
+int val;    // variable to read the value from the analog pin 
+ 
+void setup() 
+{ 
+  myservo.attach(9);  // attaches the servo on pin 9 to the servo object 
+} 
+ 
+void loop() 
+{ 
+  val = analogRead(potpin);            // reads the value of the potentiometer (value between 0 and 1023) 
+  val = map(val, 0, 1023, 0, 179);     // scale it to use it with the servo (value between 0 and 180) 
+  myservo.write(val);                  // sets the servo position according to the scaled value 
+  delay(15);                           // waits for the servo to get there 
+} 
diff --git a/libraries/Servo/examples/Sweep/Sweep.ino b/libraries/Servo/examples/Sweep/Sweep.ino
new file mode 100644
index 0000000..fb326e7
--- /dev/null
+++ b/libraries/Servo/examples/Sweep/Sweep.ino
@@ -0,0 +1,31 @@
+// Sweep
+// by BARRAGAN <http://barraganstudio.com> 
+// This example code is in the public domain.
+
+
+#include <Servo.h> 
+ 
+Servo myservo;  // create servo object to control a servo 
+                // a maximum of eight servo objects can be created 
+ 
+int pos = 0;    // variable to store the servo position 
+ 
+void setup() 
+{ 
+  myservo.attach(9);  // attaches the servo on pin 9 to the servo object 
+} 
+ 
+ 
+void loop() 
+{ 
+  for(pos = 0; pos < 180; pos += 1)  // goes from 0 degrees to 180 degrees 
+  {                                  // in steps of 1 degree 
+    myservo.write(pos);              // tell servo to go to position in variable 'pos' 
+    delay(15);                       // waits 15ms for the servo to reach the position 
+  } 
+  for(pos = 180; pos>=1; pos-=1)     // goes from 180 degrees to 0 degrees 
+  {                                
+    myservo.write(pos);              // tell servo to go to position in variable 'pos' 
+    delay(15);                       // waits 15ms for the servo to reach the position 
+  } 
+} 
diff --git a/libraries/Servo/keywords.txt b/libraries/Servo/keywords.txt
new file mode 100755
index 0000000..ca5ba79
--- /dev/null
+++ b/libraries/Servo/keywords.txt
@@ -0,0 +1,24 @@
+#######################################
+# Syntax Coloring Map Servo
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Servo	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+attach	KEYWORD2
+detach	KEYWORD2
+write	KEYWORD2
+read	KEYWORD2
+attached	KEYWORD2
+writeMicroseconds	KEYWORD2
+readMicroseconds	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################