added basic code

8 files changed, 406 insertions, 0 deletions

diff --git a/arduino/libraries/Servo/README.adoc b/arduino/libraries/Servo/README.adoc
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+++ b/arduino/libraries/Servo/README.adoc
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+= Servo Library for Arduino =
+
+This library allows an Arduino board to control RC (hobby) servo motors.
+
+For more information about this library please visit us at
+http://www.arduino.cc/en/Reference/Servo
+
+== License ==
+
+Copyright (c) 2013 Arduino LLC. All right reserved.
+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
diff --git a/arduino/libraries/Servo/examples/Knob/Knob.ino b/arduino/libraries/Servo/examples/Knob/Knob.ino
new file mode 100755
index 0000000..fdb4e0d
--- /dev/null
+++ b/arduino/libraries/Servo/examples/Knob/Knob.ino
@@ -0,0 +1,27 @@
+/*
+ Controlling a servo position using a potentiometer (variable resistor)
+ by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
+
+ modified on 8 Nov 2013
+ by Scott Fitzgerald
+ http://www.arduino.cc/en/Tutorial/Knob
+*/
+
+#include <Servo.h>
+
+Servo myservo;  // create servo object to control a servo
+
+int potpin = A0;  // analog pin used to connect the potentiometer
+int val;    // variable to read the value from the analog pin
+
+void setup() {
+  myservo.attach(A1);  // 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, 180);     // 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/arduino/libraries/Servo/examples/Sweep/Sweep.ino b/arduino/libraries/Servo/examples/Sweep/Sweep.ino
new file mode 100755
index 0000000..611197a
--- /dev/null
+++ b/arduino/libraries/Servo/examples/Sweep/Sweep.ino
@@ -0,0 +1,32 @@
+/* Sweep
+ by BARRAGAN <http://barraganstudio.com>
+ This example code is in the public domain.
+
+ modified 8 Nov 2013
+ by Scott Fitzgerald
+ http://www.arduino.cc/en/Tutorial/Sweep
+*/
+
+#include <Servo.h>
+
+Servo myservo;  // create servo object to control a servo
+// twelve servo objects can be created on most boards
+
+int pos = 0;    // variable to store the servo position
+
+void setup() {
+  myservo.attach(A0);  // 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 >= 0; 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/arduino/libraries/Servo/keywords.txt b/arduino/libraries/Servo/keywords.txt
new file mode 100755
index 0000000..0a7ca1e
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+++ b/arduino/libraries/Servo/keywords.txt
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+#######################################
+# Syntax Coloring Map Servo
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Servo	KEYWORD1	Servo
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+attach	KEYWORD2
+detach	KEYWORD2
+write	KEYWORD2
+read	KEYWORD2
+attached	KEYWORD2
+writeMicroseconds	KEYWORD2
+readMicroseconds	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################
diff --git a/arduino/libraries/Servo/library.properties b/arduino/libraries/Servo/library.properties
new file mode 100755
index 0000000..44750b3
--- /dev/null
+++ b/arduino/libraries/Servo/library.properties
@@ -0,0 +1,9 @@
+name=Servo
+version=1.1.2
+author=Michael Margolis, Arduino
+maintainer=Arduino <info@arduino.cc>
+sentence=Allows Arduino/Genuino boards to control a variety of servo motors.
+paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />On the Arduino Due you can control up to 60 servos.<br />
+category=Device Control
+url=http://www.arduino.cc/en/Reference/Servo
+architectures=nrf52
diff --git a/arduino/libraries/Servo/src/Servo.h b/arduino/libraries/Servo/src/Servo.h
new file mode 100755
index 0000000..1dfc1c8
--- /dev/null
+++ b/arduino/libraries/Servo/src/Servo.h
@@ -0,0 +1,121 @@
+/*
+  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 current board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ */
+
+// Architecture specific include
+#if defined(ARDUINO_ARCH_AVR)
+#include "avr/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_SAM)
+#include "sam/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_SAMD)
+#include "samd/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_STM32F4)
+#include "stm32f4/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_NRF52)
+#include "nrf52/ServoTimers.h"
+#else
+#error "This library only supports boards with an AVR, SAM, SAMD, NRF52 or STM32F4 processor."
+#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
+
+#if !defined(ARDUINO_ARCH_STM32F4)
+
+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;
+  volatile 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
+   int16_t min;                       // minimum pulse in µs    
+   int16_t max;                       // maximum pulse in µs
+
+   HardwarePWM* pwm;
+};
+
+#endif
+#endif
diff --git a/arduino/libraries/Servo/src/nrf52/Servo.cpp b/arduino/libraries/Servo/src/nrf52/Servo.cpp
new file mode 100755
index 0000000..c9a0375
--- /dev/null
+++ b/arduino/libraries/Servo/src/nrf52/Servo.cpp
@@ -0,0 +1,127 @@
+/*
+  Copyright (c) 2016 Arduino. 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
+*/
+
+#if defined(ARDUINO_ARCH_NRF52)
+
+#include <Arduino.h>
+#include <Servo.h>
+
+
+static servo_t servos[MAX_SERVOS];              // static array of servo structures
+uint8_t ServoCount = 0;                         // the total number of attached servos
+
+Servo::Servo()
+{
+  if (ServoCount < MAX_SERVOS) {
+    this->servoIndex = ServoCount++;            // assign a servo index to this instance
+  } else {
+    this->servoIndex = INVALID_SERVO;  					// too many servos
+  }
+
+  this->pwm = NULL;
+}
+
+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;
+
+    if (min < MIN_PULSE_WIDTH) min = MIN_PULSE_WIDTH;
+    if (max > MAX_PULSE_WIDTH) max = MAX_PULSE_WIDTH;
+
+    //fix min if conversion to pulse cycle value is too low
+    if((min/DUTY_CYCLE_RESOLUTION)*DUTY_CYCLE_RESOLUTION<min) min+=DUTY_CYCLE_RESOLUTION;
+	  
+    this->min  = min;
+    this->max  = max;
+
+    servos[this->servoIndex].Pin.isActive = true;
+
+    // Adafruit, add pin to 1 of available Hw PWM
+    for(int i=0; i<HWPWM_MODULE_NUM; i++)
+    {
+      if ( HwPWMx[i]->addPin(pin) )
+      {
+        this->pwm = HwPWMx[i];
+        break;
+      }
+    }
+
+    this->pwm->setMaxValue(MAXVALUE);
+    this->pwm->setClockDiv(CLOCKDIV);
+
+  }
+  return this->servoIndex;
+}
+
+void Servo::detach()
+{
+  uint8_t const pin = servos[this->servoIndex].Pin.nbr;
+
+	servos[this->servoIndex].Pin.isActive = false;
+
+	// remove pin from HW PWM
+	this->pwm->removePin(pin);
+}
+
+
+void Servo::write(int value)
+{  
+	if (value < 0)
+		value = 0;
+	else if (value > 180)
+		value = 180;
+	value = map(value, 0, 180, this->min, this->max);
+	
+	writeMicroseconds(value);
+}
+
+
+void Servo::writeMicroseconds(int value)
+{
+	uint8_t pin = servos[this->servoIndex].Pin.nbr;
+	
+	if ( this->pwm ) this->pwm->writePin(pin, value/DUTY_CYCLE_RESOLUTION);
+}
+
+int Servo::read() // return the value as degrees
+{
+	return map(readMicroseconds(), this->min, this->max, 0, 180);
+}
+
+int Servo::readMicroseconds()
+{	
+	uint8_t pin = servos[this->servoIndex].Pin.nbr;
+
+	if ( this->pwm ) return this->pwm->readPin(pin)*DUTY_CYCLE_RESOLUTION;
+
+	return 0;
+}
+
+bool Servo::attached()
+{
+  return servos[this->servoIndex].Pin.isActive;
+}
+
+#endif // ARDUINO_ARCH_NRF52
diff --git a/arduino/libraries/Servo/src/nrf52/ServoTimers.h b/arduino/libraries/Servo/src/nrf52/ServoTimers.h
new file mode 100755
index 0000000..ce6c7de
--- /dev/null
+++ b/arduino/libraries/Servo/src/nrf52/ServoTimers.h
@@ -0,0 +1,41 @@
+/*
+  Copyright (c) 2016 Arduino. 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
+*/
+
+/*
+ * NRF52 doesn't use timer, but pwm. This file include definitions to keep
+ * compatibility with the Servo library standards.
+ */
+
+#ifndef __SERVO_TIMERS_H__
+#define __SERVO_TIMERS_H__
+
+/**
+ * NRF52 Only definitions
+ * ---------------------
+ */
+//PWM_PRESCALER_PRESCALER_DIV_128 -> NRF_PWM_CLK_125kHz -> resolution 8µs
+//MaxValue = 2500 -> PWM period = 20ms
+//20ms - 50Hz
+#define DUTY_CYCLE_RESOLUTION 8
+#define MAXVALUE 2500
+#define CLOCKDIV PWM_PRESCALER_PRESCALER_DIV_128
+
+// define one timer in order to have MAX_SERVOS = 12
+typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
+
+#endif   // __SERVO_TIMERS_H__