Initial Arduino IDE based on Processing.

build/shared/lib/avrlib/servo.h

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+/*! \file servo.h \brief Interrupt-driven RC Servo function library. */
+//*****************************************************************************
+//
+// File Name	: 'servo.h'
+// Title		: Interrupt-driven RC Servo function library
+// Author		: Pascal Stang - Copyright (C) 2002
+// Created		: 7/31/2002
+// Revised		: 8/02/2002
+// Version		: 1.0
+// Target MCU	: Atmel AVR Series
+// Editor Tabs	: 4
+//
+// NOTE: you need the latest version (3.2+) of the AVR-GCC compiler to use this
+//	function library.  Download it from http://www.avrfreaks.net/AVRGCC
+//
+// Description : This code allows you to drive up to 8 RC servos from any
+//		combination of ports and pins on the AVR processor. Using interrupts,
+//		this code continuously sends control signals to the servo to maintain
+//		position even while your code is doing other work.
+//
+//		The servoInit and servoOff effectively turn on and turn off servo
+//		control.  When you run ServoInit, it automatically assigns each
+//		"channel" of servo control to be output on the SERVO_DEFAULT_PORT.
+//		One "channel" of servo control can control one servo and must be
+//		assigned single I/O pin for output.
+//
+//		If you're using all eight channels (SERVO_NUM_CHANNELS = 8), then
+//		then by default the code will use SERVO_DEFAULT_PORT pins 0-7.
+//		If you're only using four channels, then pins 0-3 will be used by
+//		default.
+//
+//		The command servoSetChannelIO(channel, port, pin) allows you to
+//		reassign the output of any channel to any port and I/O pin you
+//		choose.  For exampe, if you have an RC servo connected to PORTC, pin 6,
+//		and you wish to use channel 2 to control it, use:
+//
+//		servoSerChannelIO( 2, _SFR_IO_ADDR(PORTC), 6)
+//
+//		(NOTE: you must include the "_SRF_IO_ADDR()" part around your port)
+//
+//		The servoSetPostion and servoGetPosition commands allow you to command
+//		a given servo to your desired position.  The position you request must
+//		lie between the SERVO_MIN and SERVO_MAX limit you defined.
+//
+// This code is distributed under the GNU Public License
+//		which can be found at http://www.gnu.org/licenses/gpl.txt
+//
+//*****************************************************************************
+
+#ifndef SERVO_H
+#define SERVO_H
+
+#include "global.h"
+#include "timer.h"
+
+// include configuration
+#include "servoconf.h"
+
+typedef struct struct_ServoChannel
+{	
+	// hardware I/O port and pin for this channel
+	u08 port;
+	u08 pin;
+	// PWM duty setting which corresponds to servo position
+	u16 duty;
+} ServoChannelType;
+
+// functions
+
+// initializes servo system
+//		You must run this to begin servo control
+void servoInit(void);
+
+// turns off servo system
+//		This stops controlling the servos and
+//		returns control of the SERVOPORT to your code
+void servoOff(void);
+
+// set the port and I/O pin you wish to use for a given channel
+//		If you do not assign a port and I/O pin for a channel (ie. you don't
+//		use this command) then all output will be done through the
+//		SERVO_DEFAULT_PORT.  See above definition of SERVO_DEFAULT_PORT.
+void servoSetChannelIO(u08 channel, u08 port, u08 pin);
+
+// set and get servo position on a given channel 
+//		servoSetPosition() commands the servo on <channel> to the position you
+//			desire.  The position input must lie between 0 and POSITION_MAX and
+//			will be automatically scaled to raw positions between SERVO_MIN and
+//			SERVO_MAX
+//		servoGetPosition() returns the most recently set postition of the
+//			servo on <channel>.  The return value will be scaled 0->POSITION_MAX
+void servoSetPosition(u08 channel, u08 position);
+u08 servoGetPosition(u08 channel);
+
+// set and get raw servo position on a given channel
+//		Works like non-raw commands but position is not scaled.  Position must
+//		be between SERVO_MIN and SERVO_MAX
+void servoSetPositionRaw(u08 channel, u16 position);
+u16 servoGetPositionRaw(u08 channel);
+
+// servo interrupt service routine
+void servoService(void);
+
+#endif