-/*

- 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 seize 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 <inttypes.h>

-

-/*

- * 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"

-#elif defined(ARDUINO_ARCH_STM32F4)

-#include "stm32f4/ServoTimers.h"

-#elif defined(ARDUINO_ARCH_NRF52)

-#include "nrf52/ServoTimers.h"

-#elif defined(ARDUINO_ARCH_MEGAAVR)

-#include "megaavr/ServoTimers.h"

-#elif defined(ARDUINO_ARCH_MBED)

-#include "mbed/ServoTimers.h"

-#else

-#error "This library only supports boards with an AVR, SAM, SAMD, NRF52 or STM32F4 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 // minimum 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

-

-#if !defined(ARDUINO_ARCH_STM32F4)

-

-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

-#endif