arduino/esp8266
1
0
Fork 0
mirror of https://github.com/esp8266/Arduino.git synced 2025-06-16 11:21:18 +03:00
Code Activity

Servo library to format 1.5 rev.2

Browse Source
This commit is contained in:
Cristian Maglie
2014-01-02 00:20:31 +01:00
parent 03a7cf3212
commit 4b7302692c
6 changed files with 626 additions and 620 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/Servo/library.properties
View File

@ -1,10 +1,8 @@
name=Servo
author=
email=
version=1.0
author=Michael Margolis, Arduino
maintainer=Arduino <info@arduino.cc>
sentence=Controls a lot of Servos.
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 />
url=http://arduino.cc/en/Reference/Servo
architectures=avr,sam
version=1.0
dependencies=
core-dependencies=arduino (>=1.5.0)

8
libraries/Servo/src/Servo.h
View File

@ -59,7 +59,13 @@
*/
// Architecture specific include
#include <ServoTimers.h>
#if defined(ARDUINO_ARCH_AVR)
#include "avr/ServoTimers.h"
#elif defined(ARDUINO_ARCH_SAM)
#include "sam/ServoTimers.h"
#else
#error "This library only supports boards with an AVR or SAM processor."
#endif
#define Servo_VERSION 2 // software version of this library

6
libraries/Servo/arch/avr/Servo.cpp → libraries/Servo/src/avr/Servo.cpp
View File

@ -17,6 +17,8 @@
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#if defined(ARDUINO_ARCH_AVR)
#include <avr/interrupt.h>
#include <Arduino.h>
@ -280,7 +282,7 @@ void Servo::writeMicroseconds(int value)
else if( value > SERVO_MAX() )
value = SERVO_MAX();
value = value - TRIM_DURATION;
value = value - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
uint8_t oldSREG = SREG;
@ -311,3 +313,5 @@ bool Servo::attached()
return servos[this->servoIndex].Pin.isActive ;
}
#endif // ARDUINO_ARCH_AVR

10
libraries/Servo/arch/avr/ServoTimers.h → libraries/Servo/src/avr/ServoTimers.h
View File

@ -36,24 +36,24 @@
#define _useTimer1
#define _useTimer3
#define _useTimer4
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t;
#elif defined(__AVR_ATmega32U4__)
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t;
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t;
#else // everything else
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
#endif

49
libraries/Servo/arch/sam/Servo.cpp → libraries/Servo/src/sam/Servo.cpp
View File

@ -1,21 +1,22 @@
/*
Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers - Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
Copyright (c) 2013 Arduino LLC. 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 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.
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
*/
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_SAM)
#include <Arduino.h>
#include <Servo.h>
@ -23,7 +24,6 @@
#define usToTicks(_us) (( clockCyclesPerMicrosecond() * _us) / 32) // converts microseconds to tick
#define ticksToUs(_ticks) (( (unsigned)_ticks * 32)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
static servo_t servos[MAX_SERVOS]; // static array of servo structures
@ -43,9 +43,6 @@ static volatile int8_t Channel[_Nbr_16timers ]; // counter for the s
/************ static functions common to all instances ***********************/
//timer16_Sequence_t timer;
//------------------------------------------------------------------------------
/// Interrupt handler for the TC0 channel 1.
//------------------------------------------------------------------------------
@ -111,7 +108,7 @@ static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn)
{
pmc_enable_periph_clk(id);
TC_Configure(tc, channel,
TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32
TC_CMR_WAVE | // Waveform mode
TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC
@ -131,23 +128,23 @@ static void initISR(timer16_Sequence_t timer)
{
#if defined (_useTimer1)
if (timer == _timer1)
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
#endif
#if defined (_useTimer2)
if (timer == _timer2)
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
#endif
#if defined (_useTimer3)
if (timer == _timer3)
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
#endif
#if defined (_useTimer4)
if (timer == _timer4)
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
#endif
#if defined (_useTimer5)
if (timer == _timer5)
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
#endif
}
@ -187,7 +184,7 @@ 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
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values
} else {
this->servoIndex = INVALID_SERVO; // too many servos
}
@ -282,3 +279,5 @@ bool Servo::attached()
return servos[this->servoIndex].Pin.isActive;
}
#endif // ARDUINO_ARCH_SAM

7
libraries/Servo/arch/sam/ServoTimers.h → libraries/Servo/src/sam/ServoTimers.h
View File

@ -1,6 +1,5 @@
/*
Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
Copyright (c) 2009 Michael Margolis. All right reserved.
Copyright (c) 2013 Arduino LLC. 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
@ -9,12 +8,12 @@
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
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
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
/*