diff --git a/build/Servo-1.1.1.zip.sha b/build/Servo-1.1.1.zip.sha
new file mode 100644
index 000000000..a277d67a4
--- /dev/null
+++ b/build/Servo-1.1.1.zip.sha
@@ -0,0 +1 @@
+aa67f83eafe3583a654acdf14577ed2dac9ea380
diff --git a/build/build.xml b/build/build.xml
index d2fd470e6..f116b376b 100644
--- a/build/build.xml
+++ b/build/build.xml
@@ -237,6 +237,7 @@
+
diff --git a/libraries/Servo/README.adoc b/libraries/Servo/README.adoc
deleted file mode 100644
index dd3f0bae3..000000000
--- a/libraries/Servo/README.adoc
+++ /dev/null
@@ -1,25 +0,0 @@
-= 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/libraries/Servo/examples/Knob/Knob.ino b/libraries/Servo/examples/Knob/Knob.ino
deleted file mode 100644
index 0db8770bd..000000000
--- a/libraries/Servo/examples/Knob/Knob.ino
+++ /dev/null
@@ -1,27 +0,0 @@
-/*
- Controlling a servo position using a potentiometer (variable resistor)
- by Michal Rinott
-
- modified on 8 Nov 2013
- by Scott Fitzgerald
- http://www.arduino.cc/en/Tutorial/Knob
-*/
-
-#include
-
-Servo myservo; // create servo object to control a servo
-
-int potpin = 0; // analog pin used to connect the potentiometer
-int val; // variable to read the value from the analog pin
-
-void setup() {
- myservo.attach(9); // 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/libraries/Servo/examples/Sweep/Sweep.ino b/libraries/Servo/examples/Sweep/Sweep.ino
deleted file mode 100644
index df904afb1..000000000
--- a/libraries/Servo/examples/Sweep/Sweep.ino
+++ /dev/null
@@ -1,32 +0,0 @@
-/* Sweep
- by BARRAGAN
- This example code is in the public domain.
-
- modified 8 Nov 2013
- by Scott Fitzgerald
- http://www.arduino.cc/en/Tutorial/Sweep
-*/
-
-#include
-
-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(9); // 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/libraries/Servo/keywords.txt b/libraries/Servo/keywords.txt
deleted file mode 100644
index 0a7ca1e3d..000000000
--- a/libraries/Servo/keywords.txt
+++ /dev/null
@@ -1,24 +0,0 @@
-#######################################
-# 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/libraries/Servo/library.properties b/libraries/Servo/library.properties
deleted file mode 100644
index f27ae5d4a..000000000
--- a/libraries/Servo/library.properties
+++ /dev/null
@@ -1,9 +0,0 @@
-name=Servo
-version=1.1.2
-author=Michael Margolis, Arduino
-maintainer=Arduino
-sentence=Allows Arduino/Genuino boards to control a variety of servo motors.
-paragraph=This library can control a great number of servos.
It makes careful use of timers: the library can control 12 servos using only 1 timer.
On the Arduino Due you can control up to 60 servos.
-category=Device Control
-url=http://www.arduino.cc/en/Reference/Servo
-architectures=avr,sam,samd
diff --git a/libraries/Servo/src/Servo.h b/libraries/Servo/src/Servo.h
deleted file mode 100644
index 894d2679a..000000000
--- a/libraries/Servo/src/Servo.h
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- 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
-
-/*
- * 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"
-#else
-#error "This library only supports boards with an AVR, SAM or SAMD 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
-
-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
- int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
- int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
-};
-
-#endif
diff --git a/libraries/Servo/src/avr/Servo.cpp b/libraries/Servo/src/avr/Servo.cpp
deleted file mode 100644
index 7fdd9d52e..000000000
--- a/libraries/Servo/src/avr/Servo.cpp
+++ /dev/null
@@ -1,317 +0,0 @@
-/*
- Servo.cpp - 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
- */
-
-#if defined(ARDUINO_ARCH_AVR)
-
-#include
-#include
-
-#include "Servo.h"
-
-#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
-#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
-
-
-#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
-
-//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
-
-static servo_t servos[MAX_SERVOS]; // static array of servo structures
-static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
-
-uint8_t ServoCount = 0; // the total number of attached servos
-
-
-// convenience macros
-#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
-#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
-#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
-#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
-
-#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
-#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
-
-/************ static functions common to all instances ***********************/
-
-static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
-{
- if( Channel[timer] < 0 )
- *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
- else{
- if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
- digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
- }
-
- Channel[timer]++; // increment to the next channel
- if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
- *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
- if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
- digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
- }
- else {
- // finished all channels so wait for the refresh period to expire before starting over
- if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed
- *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
- else
- *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
- Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
- }
-}
-
-#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
-// Interrupt handlers for Arduino
-#if defined(_useTimer1)
-SIGNAL (TIMER1_COMPA_vect)
-{
- handle_interrupts(_timer1, &TCNT1, &OCR1A);
-}
-#endif
-
-#if defined(_useTimer3)
-SIGNAL (TIMER3_COMPA_vect)
-{
- handle_interrupts(_timer3, &TCNT3, &OCR3A);
-}
-#endif
-
-#if defined(_useTimer4)
-SIGNAL (TIMER4_COMPA_vect)
-{
- handle_interrupts(_timer4, &TCNT4, &OCR4A);
-}
-#endif
-
-#if defined(_useTimer5)
-SIGNAL (TIMER5_COMPA_vect)
-{
- handle_interrupts(_timer5, &TCNT5, &OCR5A);
-}
-#endif
-
-#elif defined WIRING
-// Interrupt handlers for Wiring
-#if defined(_useTimer1)
-void Timer1Service()
-{
- handle_interrupts(_timer1, &TCNT1, &OCR1A);
-}
-#endif
-#if defined(_useTimer3)
-void Timer3Service()
-{
- handle_interrupts(_timer3, &TCNT3, &OCR3A);
-}
-#endif
-#endif
-
-
-static void initISR(timer16_Sequence_t timer)
-{
-#if defined (_useTimer1)
- if(timer == _timer1) {
- TCCR1A = 0; // normal counting mode
- TCCR1B = _BV(CS11); // set prescaler of 8
- TCNT1 = 0; // clear the timer count
-#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
- TIFR |= _BV(OCF1A); // clear any pending interrupts;
- TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
-#else
- // here if not ATmega8 or ATmega128
- TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
- TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
-#endif
-#if defined(WIRING)
- timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
-#endif
- }
-#endif
-
-#if defined (_useTimer3)
- if(timer == _timer3) {
- TCCR3A = 0; // normal counting mode
- TCCR3B = _BV(CS31); // set prescaler of 8
- TCNT3 = 0; // clear the timer count
-#if defined(__AVR_ATmega128__)
- TIFR |= _BV(OCF3A); // clear any pending interrupts;
- ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
-#else
- TIFR3 = _BV(OCF3A); // clear any pending interrupts;
- TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
-#endif
-#if defined(WIRING)
- timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
-#endif
- }
-#endif
-
-#if defined (_useTimer4)
- if(timer == _timer4) {
- TCCR4A = 0; // normal counting mode
- TCCR4B = _BV(CS41); // set prescaler of 8
- TCNT4 = 0; // clear the timer count
- TIFR4 = _BV(OCF4A); // clear any pending interrupts;
- TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
- }
-#endif
-
-#if defined (_useTimer5)
- if(timer == _timer5) {
- TCCR5A = 0; // normal counting mode
- TCCR5B = _BV(CS51); // set prescaler of 8
- TCNT5 = 0; // clear the timer count
- TIFR5 = _BV(OCF5A); // clear any pending interrupts;
- TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
- }
-#endif
-}
-
-static void finISR(timer16_Sequence_t timer)
-{
- //disable use of the given timer
-#if defined WIRING // Wiring
- if(timer == _timer1) {
- #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
- TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
- #else
- TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
- #endif
- timerDetach(TIMER1OUTCOMPAREA_INT);
- }
- else if(timer == _timer3) {
- #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
- TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
- #else
- ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
- #endif
- timerDetach(TIMER3OUTCOMPAREA_INT);
- }
-#else
- //For arduino - in future: call here to a currently undefined function to reset the timer
-#endif
-}
-
-static boolean isTimerActive(timer16_Sequence_t timer)
-{
- // returns true if any servo is active on this timer
- for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
- if(SERVO(timer,channel).Pin.isActive == true)
- return true;
- }
- return false;
-}
-
-
-/****************** end of static functions ******************************/
-
-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 - 12 Aug 2009
- }
- else
- this->servoIndex = INVALID_SERVO ; // too many servos
-}
-
-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;
- // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
- this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
- this->max = (MAX_PULSE_WIDTH - max)/4;
- // initialize the timer if it has not already been initialized
- timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
- if(isTimerActive(timer) == false)
- initISR(timer);
- servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
- }
- return this->servoIndex ;
-}
-
-void Servo::detach()
-{
- servos[this->servoIndex].Pin.isActive = false;
- timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
- if(isTimerActive(timer) == false) {
- finISR(timer);
- }
-}
-
-void Servo::write(int value)
-{
- if(value < MIN_PULSE_WIDTH)
- { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
- if(value < 0) value = 0;
- if(value > 180) value = 180;
- value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
- }
- this->writeMicroseconds(value);
-}
-
-void Servo::writeMicroseconds(int value)
-{
- // calculate and store the values for the given channel
- byte channel = this->servoIndex;
- if( (channel < MAX_SERVOS) ) // ensure channel is valid
- {
- if( value < SERVO_MIN() ) // ensure pulse width is valid
- value = SERVO_MIN();
- else if( value > SERVO_MAX() )
- value = SERVO_MAX();
-
- value = value - TRIM_DURATION;
- value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
-
- uint8_t oldSREG = SREG;
- cli();
- servos[channel].ticks = value;
- SREG = oldSREG;
- }
-}
-
-int Servo::read() // return the value as degrees
-{
- return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
-}
-
-int Servo::readMicroseconds()
-{
- unsigned int pulsewidth;
- if( this->servoIndex != INVALID_SERVO )
- pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009
- else
- pulsewidth = 0;
-
- return pulsewidth;
-}
-
-bool Servo::attached()
-{
- return servos[this->servoIndex].Pin.isActive ;
-}
-
-#endif // ARDUINO_ARCH_AVR
-
diff --git a/libraries/Servo/src/avr/ServoTimers.h b/libraries/Servo/src/avr/ServoTimers.h
deleted file mode 100644
index 9794c8ef6..000000000
--- a/libraries/Servo/src/avr/ServoTimers.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
- 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
-*/
-
-/*
- * 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.
- */
-
-/**
- * AVR Only definitions
- * --------------------
- */
-
-// Say which 16 bit timers can be used and in what order
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-#define _useTimer5
-#define _useTimer1
-#define _useTimer3
-#define _useTimer4
-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;
-
-#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
-#define _useTimer3
-#define _useTimer1
-typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t;
-
-#elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
-#define _useTimer3
-#define _useTimer1
-typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t;
-
-#else // everything else
-#define _useTimer1
-typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
-#endif
-
diff --git a/libraries/Servo/src/sam/Servo.cpp b/libraries/Servo/src/sam/Servo.cpp
deleted file mode 100644
index 21f901f0e..000000000
--- a/libraries/Servo/src/sam/Servo.cpp
+++ /dev/null
@@ -1,283 +0,0 @@
-/*
- 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 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_SAM)
-
-#include
-#include
-
-#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
-
-uint8_t ServoCount = 0; // the total number of attached servos
-
-static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
-
-// convenience macros
-#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
-#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
-#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
-#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
-
-#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
-#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
-
-/************ static functions common to all instances ***********************/
-
-//------------------------------------------------------------------------------
-/// Interrupt handler for the TC0 channel 1.
-//------------------------------------------------------------------------------
-void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
-#if defined (_useTimer1)
-void HANDLER_FOR_TIMER1(void) {
- Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
-}
-#endif
-#if defined (_useTimer2)
-void HANDLER_FOR_TIMER2(void) {
- Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
-}
-#endif
-#if defined (_useTimer3)
-void HANDLER_FOR_TIMER3(void) {
- Servo_Handler(_timer3, TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
-}
-#endif
-#if defined (_useTimer4)
-void HANDLER_FOR_TIMER4(void) {
- Servo_Handler(_timer4, TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
-}
-#endif
-#if defined (_useTimer5)
-void HANDLER_FOR_TIMER5(void) {
- Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
-}
-#endif
-
-void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel)
-{
- // clear interrupt
- tc->TC_CHANNEL[channel].TC_SR;
- if (Channel[timer] < 0) {
- tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
- } else {
- if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true) {
- digitalWrite(SERVO(timer,Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
- }
- }
-
- Channel[timer]++; // increment to the next channel
- if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
- tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks;
- if(SERVO(timer,Channel[timer]).Pin.isActive == true) { // check if activated
- digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
- }
- }
- else {
- // finished all channels so wait for the refresh period to expire before starting over
- if( (tc->TC_CHANNEL[channel].TC_CV) + 4 < usToTicks(REFRESH_INTERVAL) ) { // allow a few ticks to ensure the next OCR1A not missed
- tc->TC_CHANNEL[channel].TC_RA = (unsigned int)usToTicks(REFRESH_INTERVAL);
- }
- else {
- tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
- }
- Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
- }
-}
-
-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_WAVE | // Waveform mode
- TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC
-
- /* 84MHz, MCK/32, for 1.5ms: 3937 */
- TC_SetRA(tc, channel, 2625); // 1ms
-
- /* Configure and enable interrupt */
- NVIC_EnableIRQ(irqn);
- // TC_IER_CPAS: RA Compare
- tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS;
-
- // Enables the timer clock and performs a software reset to start the counting
- TC_Start(tc, channel);
-}
-
-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);
-#endif
-#if defined (_useTimer2)
- if (timer == _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);
-#endif
-#if defined (_useTimer4)
- if (timer == _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);
-#endif
-}
-
-static void finISR(timer16_Sequence_t timer)
-{
-#if defined (_useTimer1)
- TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1);
-#endif
-#if defined (_useTimer2)
- TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2);
-#endif
-#if defined (_useTimer3)
- TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3);
-#endif
-#if defined (_useTimer4)
- TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4);
-#endif
-#if defined (_useTimer5)
- TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5);
-#endif
-}
-
-
-static boolean isTimerActive(timer16_Sequence_t timer)
-{
- // returns true if any servo is active on this timer
- for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
- if(SERVO(timer,channel).Pin.isActive == true)
- return true;
- }
- return false;
-}
-
-/****************** end of static functions ******************************/
-
-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
- } else {
- this->servoIndex = INVALID_SERVO; // too many servos
- }
-}
-
-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)
-{
- timer16_Sequence_t timer;
-
- if (this->servoIndex < MAX_SERVOS) {
- pinMode(pin, OUTPUT); // set servo pin to output
- servos[this->servoIndex].Pin.nbr = pin;
- // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
- this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
- this->max = (MAX_PULSE_WIDTH - max)/4;
- // initialize the timer if it has not already been initialized
- timer = SERVO_INDEX_TO_TIMER(servoIndex);
- if (isTimerActive(timer) == false) {
- initISR(timer);
- }
- servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
- }
- return this->servoIndex;
-}
-
-void Servo::detach()
-{
- timer16_Sequence_t timer;
-
- servos[this->servoIndex].Pin.isActive = false;
- timer = SERVO_INDEX_TO_TIMER(servoIndex);
- if(isTimerActive(timer) == false) {
- finISR(timer);
- }
-}
-
-void Servo::write(int value)
-{
- // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
- if (value < MIN_PULSE_WIDTH)
- {
- if (value < 0)
- value = 0;
- else if (value > 180)
- value = 180;
-
- value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
- }
- writeMicroseconds(value);
-}
-
-void Servo::writeMicroseconds(int value)
-{
- // calculate and store the values for the given channel
- byte channel = this->servoIndex;
- if( (channel < MAX_SERVOS) ) // ensure channel is valid
- {
- if (value < SERVO_MIN()) // ensure pulse width is valid
- value = SERVO_MIN();
- else if (value > SERVO_MAX())
- value = SERVO_MAX();
-
- value = value - TRIM_DURATION;
- value = usToTicks(value); // convert to ticks after compensating for interrupt overhead
- servos[channel].ticks = value;
- }
-}
-
-int Servo::read() // return the value as degrees
-{
- return map(readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
-}
-
-int Servo::readMicroseconds()
-{
- unsigned int pulsewidth;
- if (this->servoIndex != INVALID_SERVO)
- pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
- else
- pulsewidth = 0;
-
- return pulsewidth;
-}
-
-bool Servo::attached()
-{
- return servos[this->servoIndex].Pin.isActive;
-}
-
-#endif // ARDUINO_ARCH_SAM
-
diff --git a/libraries/Servo/src/sam/ServoTimers.h b/libraries/Servo/src/sam/ServoTimers.h
deleted file mode 100644
index 13f736a19..000000000
--- a/libraries/Servo/src/sam/ServoTimers.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
- 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 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
-*/
-
-/*
- * 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.
- */
-
-/**
- * SAM Only definitions
- * --------------------
- */
-
-// For SAM3X:
-#define _useTimer1
-#define _useTimer2
-#define _useTimer3
-#define _useTimer4
-#define _useTimer5
-
-/*
- TC0, chan 0 => TC0_Handler
- TC0, chan 1 => TC1_Handler
- TC0, chan 2 => TC2_Handler
- TC1, chan 0 => TC3_Handler
- TC1, chan 1 => TC4_Handler
- TC1, chan 2 => TC5_Handler
- TC2, chan 0 => TC6_Handler
- TC2, chan 1 => TC7_Handler
- TC2, chan 2 => TC8_Handler
- */
-
-#if defined (_useTimer1)
-#define TC_FOR_TIMER1 TC1
-#define CHANNEL_FOR_TIMER1 0
-#define ID_TC_FOR_TIMER1 ID_TC3
-#define IRQn_FOR_TIMER1 TC3_IRQn
-#define HANDLER_FOR_TIMER1 TC3_Handler
-#endif
-#if defined (_useTimer2)
-#define TC_FOR_TIMER2 TC1
-#define CHANNEL_FOR_TIMER2 1
-#define ID_TC_FOR_TIMER2 ID_TC4
-#define IRQn_FOR_TIMER2 TC4_IRQn
-#define HANDLER_FOR_TIMER2 TC4_Handler
-#endif
-#if defined (_useTimer3)
-#define TC_FOR_TIMER3 TC1
-#define CHANNEL_FOR_TIMER3 2
-#define ID_TC_FOR_TIMER3 ID_TC5
-#define IRQn_FOR_TIMER3 TC5_IRQn
-#define HANDLER_FOR_TIMER3 TC5_Handler
-#endif
-#if defined (_useTimer4)
-#define TC_FOR_TIMER4 TC0
-#define CHANNEL_FOR_TIMER4 2
-#define ID_TC_FOR_TIMER4 ID_TC2
-#define IRQn_FOR_TIMER4 TC2_IRQn
-#define HANDLER_FOR_TIMER4 TC2_Handler
-#endif
-#if defined (_useTimer5)
-#define TC_FOR_TIMER5 TC0
-#define CHANNEL_FOR_TIMER5 0
-#define ID_TC_FOR_TIMER5 ID_TC0
-#define IRQn_FOR_TIMER5 TC0_IRQn
-#define HANDLER_FOR_TIMER5 TC0_Handler
-#endif
-
-typedef enum { _timer1, _timer2, _timer3, _timer4, _timer5, _Nbr_16timers } timer16_Sequence_t ;
-
diff --git a/libraries/Servo/src/samd/Servo.cpp b/libraries/Servo/src/samd/Servo.cpp
deleted file mode 100644
index 42a3877a6..000000000
--- a/libraries/Servo/src/samd/Servo.cpp
+++ /dev/null
@@ -1,297 +0,0 @@
-/*
- Copyright (c) 2015 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 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_SAMD)
-
-#include
-#include
-
-#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / 16) // converts microseconds to tick
-#define ticksToUs(_ticks) (((unsigned) _ticks * 16) / clockCyclesPerMicrosecond()) // converts from ticks back to microseconds
-
-#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
-
-static servo_t servos[MAX_SERVOS]; // static array of servo structures
-
-uint8_t ServoCount = 0; // the total number of attached servos
-
-static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval)
-
-// convenience macros
-#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
-#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
-#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
-#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
-
-#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
-#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
-
-#define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.STATUS.bit.SYNCBUSY);
-
-/************ static functions common to all instances ***********************/
-
-void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel, uint8_t intFlag);
-#if defined (_useTimer1)
-void HANDLER_FOR_TIMER1(void) {
- Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, INTFLAG_BIT_FOR_TIMER_1);
-}
-#endif
-#if defined (_useTimer2)
-void HANDLER_FOR_TIMER2(void) {
- Servo_Handler(_timer2, TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, INTFLAG_BIT_FOR_TIMER_2);
-}
-#endif
-
-void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel, uint8_t intFlag)
-{
- if (currentServoIndex[timer] < 0) {
- tc->COUNT16.COUNT.reg = (uint16_t) 0;
- WAIT_TC16_REGS_SYNC(tc)
- } else {
- if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive == true) {
- digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated
- }
- }
-
- // Select the next servo controlled by this timer
- currentServoIndex[timer]++;
-
- if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) {
- if (SERVO(timer, currentServoIndex[timer]).Pin.isActive == true) { // check if activated
- digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
- }
-
- // Get the counter value
- uint16_t tcCounterValue = tc->COUNT16.COUNT.reg;
- WAIT_TC16_REGS_SYNC(tc)
-
- tc->COUNT16.CC[channel].reg = (uint16_t) (tcCounterValue + SERVO(timer, currentServoIndex[timer]).ticks);
- WAIT_TC16_REGS_SYNC(tc)
- }
- else {
- // finished all channels so wait for the refresh period to expire before starting over
-
- // Get the counter value
- uint16_t tcCounterValue = tc->COUNT16.COUNT.reg;
- WAIT_TC16_REGS_SYNC(tc)
-
- if (tcCounterValue + 4UL < usToTicks(REFRESH_INTERVAL)) { // allow a few ticks to ensure the next OCR1A not missed
- tc->COUNT16.CC[channel].reg = (uint16_t) usToTicks(REFRESH_INTERVAL);
- }
- else {
- tc->COUNT16.CC[channel].reg = (uint16_t) (tcCounterValue + 4UL); // at least REFRESH_INTERVAL has elapsed
- }
- WAIT_TC16_REGS_SYNC(tc)
-
- currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
- }
-
- // Clear the interrupt
- tc->COUNT16.INTFLAG.reg = intFlag;
-}
-
-static inline void resetTC (Tc* TCx)
-{
- // Disable TCx
- TCx->COUNT16.CTRLA.reg &= ~TC_CTRLA_ENABLE;
- WAIT_TC16_REGS_SYNC(TCx)
-
- // Reset TCx
- TCx->COUNT16.CTRLA.reg = TC_CTRLA_SWRST;
- WAIT_TC16_REGS_SYNC(TCx)
- while (TCx->COUNT16.CTRLA.bit.SWRST);
-}
-
-static void _initISR(Tc *tc, uint8_t channel, uint32_t id, IRQn_Type irqn, uint8_t gcmForTimer, uint8_t intEnableBit)
-{
- // Enable GCLK for timer 1 (timer counter input clock)
- GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(gcmForTimer));
- while (GCLK->STATUS.bit.SYNCBUSY);
-
- // Reset the timer
- // TODO this is not the right thing to do if more than one channel per timer is used by the Servo library
- resetTC(tc);
-
- // Set timer counter mode to 16 bits
- tc->COUNT16.CTRLA.reg |= TC_CTRLA_MODE_COUNT16;
-
- // Set timer counter mode as normal PWM
- tc->COUNT16.CTRLA.reg |= TC_CTRLA_WAVEGEN_NPWM;
-
- // Set the prescaler factor to GCLK_TC/16. At nominal 48MHz GCLK_TC this is 3000 ticks per millisecond
- tc->COUNT16.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV16;
-
- // Count up
- tc->COUNT16.CTRLBCLR.bit.DIR = 1;
- WAIT_TC16_REGS_SYNC(tc)
-
- // First interrupt request after 1 ms
- tc->COUNT16.CC[channel].reg = (uint16_t) usToTicks(1000UL);
- WAIT_TC16_REGS_SYNC(tc)
-
- // Configure interrupt request
- // TODO this should be changed if more than one channel per timer is used by the Servo library
- NVIC_DisableIRQ(irqn);
- NVIC_ClearPendingIRQ(irqn);
- NVIC_SetPriority(irqn, 0);
- NVIC_EnableIRQ(irqn);
-
- // Enable the match channel interrupt request
- tc->COUNT16.INTENSET.reg = intEnableBit;
-
- // Enable the timer and start it
- tc->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE;
- WAIT_TC16_REGS_SYNC(tc)
-}
-
-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, GCM_FOR_TIMER_1, INTENSET_BIT_FOR_TIMER_1);
-#endif
-#if defined (_useTimer2)
- if (timer == _timer2)
- _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2, GCM_FOR_TIMER_2, INTENSET_BIT_FOR_TIMER_2);
-#endif
-}
-
-static void finISR(timer16_Sequence_t timer)
-{
-#if defined (_useTimer1)
- // Disable the match channel interrupt request
- TC_FOR_TIMER1->COUNT16.INTENCLR.reg = INTENCLR_BIT_FOR_TIMER_1;
-#endif
-#if defined (_useTimer2)
- // Disable the match channel interrupt request
- TC_FOR_TIMER2->COUNT16.INTENCLR.reg = INTENCLR_BIT_FOR_TIMER_2;
-#endif
-}
-
-static boolean isTimerActive(timer16_Sequence_t timer)
-{
- // returns true if any servo is active on this timer
- for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
- if(SERVO(timer,channel).Pin.isActive == true)
- return true;
- }
- return false;
-}
-
-/****************** end of static functions ******************************/
-
-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
- } else {
- this->servoIndex = INVALID_SERVO; // too many servos
- }
-}
-
-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)
-{
- timer16_Sequence_t timer;
-
- if (this->servoIndex < MAX_SERVOS) {
- pinMode(pin, OUTPUT); // set servo pin to output
- servos[this->servoIndex].Pin.nbr = pin;
- // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
- this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
- this->max = (MAX_PULSE_WIDTH - max)/4;
- // initialize the timer if it has not already been initialized
- timer = SERVO_INDEX_TO_TIMER(servoIndex);
- if (isTimerActive(timer) == false) {
- initISR(timer);
- }
- servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
- }
- return this->servoIndex;
-}
-
-void Servo::detach()
-{
- timer16_Sequence_t timer;
-
- servos[this->servoIndex].Pin.isActive = false;
- timer = SERVO_INDEX_TO_TIMER(servoIndex);
- if(isTimerActive(timer) == false) {
- finISR(timer);
- }
-}
-
-void Servo::write(int value)
-{
- // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
- if (value < MIN_PULSE_WIDTH)
- {
- if (value < 0)
- value = 0;
- else if (value > 180)
- value = 180;
-
- value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
- }
- writeMicroseconds(value);
-}
-
-void Servo::writeMicroseconds(int value)
-{
- // calculate and store the values for the given channel
- byte channel = this->servoIndex;
- if( (channel < MAX_SERVOS) ) // ensure channel is valid
- {
- if (value < SERVO_MIN()) // ensure pulse width is valid
- value = SERVO_MIN();
- else if (value > SERVO_MAX())
- value = SERVO_MAX();
-
- value = value - TRIM_DURATION;
- value = usToTicks(value); // convert to ticks after compensating for interrupt overhead
- servos[channel].ticks = value;
- }
-}
-
-int Servo::read() // return the value as degrees
-{
- return map(readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
-}
-
-int Servo::readMicroseconds()
-{
- unsigned int pulsewidth;
- if (this->servoIndex != INVALID_SERVO)
- pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
- else
- pulsewidth = 0;
-
- return pulsewidth;
-}
-
-bool Servo::attached()
-{
- return servos[this->servoIndex].Pin.isActive;
-}
-
-#endif // ARDUINO_ARCH_SAMD
diff --git a/libraries/Servo/src/samd/ServoTimers.h b/libraries/Servo/src/samd/ServoTimers.h
deleted file mode 100644
index 17acfb5fa..000000000
--- a/libraries/Servo/src/samd/ServoTimers.h
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
- Copyright (c) 2015 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 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
-*/
-
-/*
- * 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.
- */
-
-#ifndef __SERVO_TIMERS_H__
-#define __SERVO_TIMERS_H__
-
-/**
- * SAMD Only definitions
- * ---------------------
- */
-
-// For SAMD:
-#define _useTimer1
-//#define _useTimer2 // <- TODO do not activate until the code in Servo.cpp has been changed in order
- // to manage more than one channel per timer on the SAMD architecture
-
-#if defined (_useTimer1)
-#define TC_FOR_TIMER1 TC4
-#define CHANNEL_FOR_TIMER1 0
-#define INTENSET_BIT_FOR_TIMER_1 TC_INTENSET_MC0
-#define INTENCLR_BIT_FOR_TIMER_1 TC_INTENCLR_MC0
-#define INTFLAG_BIT_FOR_TIMER_1 TC_INTFLAG_MC0
-#define ID_TC_FOR_TIMER1 ID_TC4
-#define IRQn_FOR_TIMER1 TC4_IRQn
-#define HANDLER_FOR_TIMER1 TC4_Handler
-#define GCM_FOR_TIMER_1 GCM_TC4_TC5
-#endif
-#if defined (_useTimer2)
-#define TC_FOR_TIMER2 TC4
-#define CHANNEL_FOR_TIMER2 1
-#define INTENSET_BIT_FOR_TIMER_2 TC_INTENSET_MC1
-#define INTENCLR_BIT_FOR_TIMER_2 TC_INTENCLR_MC1
-#define ID_TC_FOR_TIMER2 ID_TC4
-#define IRQn_FOR_TIMER2 TC4_IRQn
-#define HANDLER_FOR_TIMER2 TC4_Handler
-#define GCM_FOR_TIMER_2 GCM_TC4_TC5
-#endif
-
-typedef enum {
-#if defined (_useTimer1)
- _timer1,
-#endif
-#if defined (_useTimer2)
- _timer2,
-#endif
- _Nbr_16timers } timer16_Sequence_t;
-
-#endif // __SERVO_TIMERS_H__