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__