diff options
| -rwxr-xr-x | libraries/Servo/Servo.cpp | 125 | ||||
| -rwxr-xr-x | libraries/Servo/Servo.h | 51 | ||||
| -rwxr-xr-x | libraries/Servo/keywords.txt | 22 |
3 files changed, 198 insertions, 0 deletions
diff --git a/libraries/Servo/Servo.cpp b/libraries/Servo/Servo.cpp new file mode 100755 index 0000000..c88e73a --- /dev/null +++ b/libraries/Servo/Servo.cpp @@ -0,0 +1,125 @@ +#include <Servo.h> +#include <avr/interrupt.h> + +/* + Servo.h - Hardware Servo Timer Library + Author: Jim Studt, jim@federated.com + Copyright (c) 2007 David A. Mellis. 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 +*/ + + +uint8_t Servo::attached9 = 0; +uint8_t Servo::attached10 = 0; + +void Servo::seizeTimer1() +{ + uint8_t oldSREG = SREG; + + cli(); + TCCR1A = _BV(WGM11); /* Fast PWM, ICR1 is top */ + TCCR1B = _BV(WGM13) | _BV(WGM12) /* Fast PWM, ICR1 is top */ + | _BV(CS11) /* div 8 clock prescaler */ + ; + OCR1A = 3000; + OCR1B = 3000; + ICR1 = clockCyclesPerMicrosecond()*(20000L/8); // 20000 uS is a bit fast for the refresh, 20ms, but + // it keeps us from overflowing ICR1 at 20MHz clocks + // That "/8" at the end is the prescaler. +#if defined(__AVR_ATmega168__) + TIMSK1 &= ~(_BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) ); +#else + TIMSK &= ~(_BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) ); +#endif + + SREG = oldSREG; // undo cli() +} + +void Servo::releaseTimer1() {} + +#define NO_ANGLE (0xff) + +Servo::Servo() : pin(0), angle(NO_ANGLE), min16(34), max16(150) {} +Servo::Servo(int min, int max) : pin(0), angle(NO_ANGLE), min16(min / 16), max16(max / 16) {} + +uint8_t Servo::attach(int pinArg) +{ + if (pinArg != 9 && pinArg != 10) return 0; + + pin = pinArg; + angle = NO_ANGLE; + digitalWrite(pin, LOW); + pinMode(pin, OUTPUT); + + if (!attached9 && !attached10) seizeTimer1(); + + if (pin == 9) { + attached9 = 1; + TCCR1A = TCCR1A & ~_BV(COM1A0) | _BV(COM1A1); + } + + if (pin == 10) { + attached10 = 1; + TCCR1A = TCCR1A & ~_BV(COM1B0) | _BV(COM1B1); + } + return 1; +} + +void Servo::detach() +{ + // muck with timer flags + if (pin == 9) { + attached9 = 0; + TCCR1A = TCCR1A & ~_BV(COM1A0) & ~_BV(COM1A1); + pinMode(pin, INPUT); + } + + if (pin == 10) { + attached10 = 0; + TCCR1A = TCCR1A & ~_BV(COM1B0) & ~_BV(COM1B1); + pinMode(pin, INPUT); + } + + if (!attached9 && !attached10) releaseTimer1(); +} + +void Servo::write(int angleArg) +{ + uint16_t p; + + if (angleArg < 0) angleArg = 0; + if (angleArg > 180) angleArg = 180; + angle = angleArg; + + // bleh, have to use longs to prevent overflow, could be tricky if always a 16MHz clock, but not true + // That 8L on the end is the TCNT1 prescaler, it will need to change if the clock's prescaler changes, + // but then there will likely be an overflow problem, so it will have to be handled by a human. + p = (min16*16L*clockCyclesPerMicrosecond() + (max16-min16)*(16L*clockCyclesPerMicrosecond())*angle/180L)/8L; + if (pin == 9) OCR1A = p; + if (pin == 10) OCR1B = p; +} + +uint8_t Servo::read() +{ + return angle; +} + +uint8_t Servo::attached() +{ + if (pin == 9 && attached9) return 1; + if (pin == 10 && attached10) return 1; + return 0; +} diff --git a/libraries/Servo/Servo.h b/libraries/Servo/Servo.h new file mode 100755 index 0000000..780367d --- /dev/null +++ b/libraries/Servo/Servo.h @@ -0,0 +1,51 @@ +#ifndef Servo_h +#define Servo_h + +/* + Servo.h - Hardware Servo Timer Library + Author: Jim Studt, jim@federated.com + Copyright (c) 2007 David A. Mellis. 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 <inttypes.h> +#include <wiring.h> + +class Servo +{ + private: + uint8_t pin; + uint8_t angle; // in degrees + uint8_t min16; // minimum pulse, 16uS units (default is 34) + uint8_t max16; // maximum pulse, 16uS units, 0-4ms range (default is 150) + static void seizeTimer1(); + static void releaseTimer1(); + static uint8_t attached9; + static uint8_t attached10; + public: + Servo(); + Servo(int, int); // pulse length for 0 degrees in microseconds, 540uS default + // pulse length for 180 degrees in microseconds, 2400uS default + uint8_t attach(int); // attach to a pin, sets pinMode, returns 0 on failure, won't + // position the servo until a subsequent write() happens + // Only works for 9 and 10. + void detach(); + void write(int); // specify the angle in degrees, 0 to 180 + uint8_t read(); + uint8_t attached(); +}; + +#endif diff --git a/libraries/Servo/keywords.txt b/libraries/Servo/keywords.txt new file mode 100755 index 0000000..918c46a --- /dev/null +++ b/libraries/Servo/keywords.txt @@ -0,0 +1,22 @@ +####################################### +# Syntax Coloring Map Servo +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +Servo KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### +attach KEYWORD2 +detach KEYWORD2 +write KEYWORD2 +read KEYWORD2 +attached KEYWORD2 + +####################################### +# Constants (LITERAL1) +####################################### |