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Diffstat (limited to 'libraries/Servo/Servo.cpp')
| -rw-r--r-- | libraries/Servo/Servo.cpp | 337 |
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 ;
-}
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