bendns' repos / ArduinoStuff
arduino stuffs
Diffstat (limited to 'libraries/Servo/src/samd/Servo.cpp')
-rw-r--r--libraries/Servo/src/samd/Servo.cpp297
1 files changed, 0 insertions, 297 deletions
diff --git a/libraries/Servo/src/samd/Servo.cpp b/libraries/Servo/src/samd/Servo.cpp
deleted file mode 100644
index d8e2ec4..0000000
--- 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 <Arduino.h>
-#include <Servo.h>
-
-#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 48 MHz 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