diff options
Diffstat (limited to 'arduino/libraries/Servo/src')
| -rwxr-xr-x | arduino/libraries/Servo/src/Servo.h | 121 | ||||
| -rwxr-xr-x | arduino/libraries/Servo/src/nrf52/Servo.cpp | 127 | ||||
| -rwxr-xr-x | arduino/libraries/Servo/src/nrf52/ServoTimers.h | 41 |
3 files changed, 289 insertions, 0 deletions
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__ |