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/*
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
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