From 6005c59ad03446153c66a991f01ac91c31d98dac Mon Sep 17 00:00:00 2001 From: "David A. Mellis" Date: Sat, 7 Nov 2009 17:54:56 +0000 Subject: Moving libraries out of arduino platform / core directory and to top-level. --- libraries/Servo/Servo.cpp | 268 ---------------------------------------------- 1 file changed, 268 deletions(-) delete mode 100755 libraries/Servo/Servo.cpp (limited to 'libraries/Servo/Servo.cpp') diff --git a/libraries/Servo/Servo.cpp b/libraries/Servo/Servo.cpp deleted file mode 100755 index 9f58d64..0000000 --- a/libraries/Servo/Servo.cpp +++ /dev/null @@ -1,268 +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 -#include - - -#include "Servo.h" - -#define TICKS_PER_uS (clockCyclesPerMicrosecond() / 8) // number of timer ticks per microsecond with prescale of 8 - -#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer -#define TRIM_DURATION (SERVOS_PER_TIMER/2) // compensation ticks to trim adjust for digitalWrite delays - -#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_TIMERS]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) -#if defined(__AVR_ATmega1280__) -typedef enum { _timer5, _timer1, _timer3, _timer4 } servoTimer_t; // this is the sequence for timer utilization on mega -#else -typedef enum { _timer1 } servoTimer_t; // this is the sequence for timer utilization on other controllers -#endif - -uint8_t ServoCount = 0; // the total number of attached servos - -// convenience macros -#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((servoTimer_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(servoTimer_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 < (((unsigned int)REFRESH_INTERVAL * TICKS_PER_uS) + 4) ) // allow a few ticks to ensure the next OCR1A not missed - *OCRnA = (unsigned int)REFRESH_INTERVAL * TICKS_PER_uS; - 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 - } -} - -SIGNAL (TIMER1_COMPA_vect) -{ - handle_interrupts(_timer1, &TCNT1, &OCR1A); -} - -#if defined(__AVR_ATmega1280__) -SIGNAL (TIMER3_COMPA_vect) -{ - handle_interrupts(_timer3, &TCNT3, &OCR3A); -} -SIGNAL (TIMER4_COMPA_vect) -{ - handle_interrupts(_timer4, &TCNT4, &OCR4A); -} -SIGNAL (TIMER5_COMPA_vect) -{ - handle_interrupts(_timer5, &TCNT5, &OCR5A); -} -#endif - -static void initISR(servoTimer_t timer) -{ - 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__) - TIFR |= _BV(OCF1A); // clear any pending interrupts; - TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt -#else - TIFR1 |= _BV(OCF1A); // clear any pending interrupts; - TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt -#endif - } -#if defined(__AVR_ATmega1280__) - else if(timer == _timer3) { - TCCR3A = 0; // normal counting mode - TCCR3B = _BV(CS31); // set prescaler of 8 - TCNT3 = 0; // clear the timer count - TIFR3 = _BV(OCF3A); // clear any pending interrupts; - TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt - } - else 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 - } - else 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 boolean isTimerActive(servoTimer_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 = DEFAULT_PULSE_WIDTH * TICKS_PER_uS; // store default values - } - 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 - servoTimer_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; - -#ifdef FREE_TIMERS - if(isTimerActive(SERVO_INDEX_TO_TIMER(servoIndex)) == false) { - ;// call to unimplimented function in wiring.c to re-init timer (set timer back to PWM mode) TODO? - } -#endif -} - -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) * TICKS_PER_uS; // convert to ticks after compensating for interrupt overhead - 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 = (servos[this->servoIndex].ticks / TICKS_PER_uS) + TRIM_DURATION ; - else - pulsewidth = 0; - - return pulsewidth; -} - -bool Servo::attached() -{ - return servos[this->servoIndex].Pin.isActive ; -} -- cgit v1.2.3-18-g5258