227 lines
6.0 KiB
C++
227 lines
6.0 KiB
C++
#include "Arduino.h"
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#include "PWMServo.h"
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/*
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PWMServo.cpp - Hardware Servo Timer Library
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http://arduiniana.org/libraries/pwmservo/
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Author: Jim Studt, jim@federated.com
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Copyright (c) 2007 David A. Mellis. All right reserved.
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renamed to PWMServo by Mikal Hart
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ported to other chips by Paul Stoffregen
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#define NO_ANGLE (0xff)
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#if defined(__AVR__)
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#include <avr/interrupt.h>
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uint8_t PWMServo::attachedA = 0;
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uint8_t PWMServo::attachedB = 0;
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#ifdef SERVO_PIN_C
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uint8_t PWMServo::attachedC = 0;
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#endif
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void PWMServo::seizeTimer1()
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{
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uint8_t oldSREG = SREG;
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cli();
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TCCR1A = _BV(WGM11); /* Fast PWM, ICR1 is top */
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TCCR1B = _BV(WGM13) | _BV(WGM12) /* Fast PWM, ICR1 is top */
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| _BV(CS11) /* div 8 clock prescaler */
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;
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OCR1A = 3000;
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OCR1B = 3000;
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ICR1 = clockCyclesPerMicrosecond() * (20000L / 8); // 20000 uS is a bit fast for the refresh, 20ms, but
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// it keeps us from overflowing ICR1 at 20MHz clocks
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// That "/8" at the end is the prescaler.
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#if defined(__AVR_ATmega8__)
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TIMSK &= ~(_BV(TICIE1) | _BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) );
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#else
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TIMSK1 &= ~(_BV(OCIE1A) | _BV(OCIE1B) | _BV(TOIE1) );
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#endif
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SREG = oldSREG; // undo cli()
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}
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void PWMServo::releaseTimer1() {}
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PWMServo::PWMServo() : pin(0), angle(NO_ANGLE) {}
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uint8_t PWMServo::attach(int pinArg, int min, int max)
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{
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#ifdef SERVO_PIN_C
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if (pinArg != SERVO_PIN_A && pinArg != SERVO_PIN_B && pinArg != SERVO_PIN_C) return 0;
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#else
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if (pinArg != SERVO_PIN_A && pinArg != SERVO_PIN_B) return 0;
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#endif
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min16 = min / 16;
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max16 = max / 16;
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pin = pinArg;
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angle = NO_ANGLE;
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digitalWrite(pin, LOW);
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pinMode(pin, OUTPUT);
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#ifdef SERVO_PIN_C
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if (!attachedA && !attachedB && !attachedC) seizeTimer1();
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#else
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if (!attachedA && !attachedB) seizeTimer1();
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#endif
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if (pin == SERVO_PIN_A) {
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attachedA = 1;
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TCCR1A = (TCCR1A & ~_BV(COM1A0)) | _BV(COM1A1);
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}
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if (pin == SERVO_PIN_B) {
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attachedB = 1;
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TCCR1A = (TCCR1A & ~_BV(COM1B0)) | _BV(COM1B1);
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}
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#ifdef SERVO_PIN_C
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if (pin == SERVO_PIN_C) {
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attachedC = 1;
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TCCR1A = (TCCR1A & ~_BV(COM1C0)) | _BV(COM1C1);
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}
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#endif
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return 1;
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}
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void PWMServo::detach()
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{
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// muck with timer flags
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if (pin == SERVO_PIN_A) {
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attachedA = 0;
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TCCR1A = TCCR1A & ~_BV(COM1A0) & ~_BV(COM1A1);
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pinMode(pin, INPUT);
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}
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if (pin == SERVO_PIN_B) {
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attachedB = 0;
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TCCR1A = TCCR1A & ~_BV(COM1B0) & ~_BV(COM1B1);
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pinMode(pin, INPUT);
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}
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#ifdef SERVO_PIN_C
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if (pin == SERVO_PIN_C) {
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attachedC = 0;
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TCCR1A = TCCR1A & ~_BV(COM1C0) & ~_BV(COM1C1);
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pinMode(pin, INPUT);
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}
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#endif
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#ifdef SERVO_PIN_C
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if (!attachedA && !attachedB && !attachedC) releaseTimer1();
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#else
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if (!attachedA && !attachedB) releaseTimer1();
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#endif
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}
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void PWMServo::write(int angleArg)
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{
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uint16_t p;
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if (angleArg < 0) angleArg = 0;
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if (angleArg > 180) angleArg = 180;
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angle = angleArg;
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// bleh, have to use longs to prevent overflow, could be tricky if always a 16MHz clock, but not true
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// That 8L on the end is the TCNT1 prescaler, it will need to change if the clock's prescaler changes,
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// but then there will likely be an overflow problem, so it will have to be handled by a human.
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p = (min16 * 16L * clockCyclesPerMicrosecond() + (max16 - min16) * (16L * clockCyclesPerMicrosecond()) * angle / 180L) / 8L;
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if (pin == SERVO_PIN_A) OCR1A = p;
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if (pin == SERVO_PIN_B) OCR1B = p;
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#ifdef SERVO_PIN_C
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if (pin == SERVO_PIN_C) OCR1C = p;
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#endif
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}
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uint8_t PWMServo::attached()
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{
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if (pin == SERVO_PIN_A && attachedA) return 1;
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if (pin == SERVO_PIN_B && attachedB) return 1;
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#ifdef SERVO_PIN_C
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if (pin == SERVO_PIN_C && attachedC) return 1;
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#endif
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return 0;
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}
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#elif defined(__arm__) && defined(TEENSYDUINO)
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uint32_t PWMServo::attachedpins[(NUM_DIGITAL_PINS + 31) / 32]; // 1 bit per digital pin
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PWMServo::PWMServo() : pin(255), angle(NO_ANGLE) {}
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uint8_t PWMServo::attach(int pinArg, int min, int max)
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{
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// Serial.printf("attach, pin=%d, min=%d, max=%d\n", pinArg, min, max);
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if (pinArg < 0 || pinArg >= NUM_DIGITAL_PINS) return 0;
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if (!digitalPinHasPWM(pinArg)) return 0;
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pin = pinArg;
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analogWriteFrequency(pin, 50);
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min16 = min >> 4;
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max16 = max >> 4;
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angle = NO_ANGLE;
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digitalWrite(pin, LOW);
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pinMode(pin, OUTPUT);
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attachedpins[pin >> 5] |= (1 << (pin & 31));
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// Serial.println("Succes!");
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return 1;
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}
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void PWMServo::write(float angleArg)
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{
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//Serial.printf("write, pin=%d, angle=%d\n", pin, angleArg);
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if (pin >= NUM_DIGITAL_PINS) return;
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if (angleArg < 0) angleArg = 0;
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if (angleArg > 180) angleArg = 180;
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angle = angleArg;
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uint32_t us = (((max16 - min16) * 46603 * (uint8_t)angle) >> 11) + (min16 << 12); // us*256
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//uint32_t duty = (us * 3355) >> 22;
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float usec = (float)((max16 - min16) << 4) * ((float)angle / 180.0f) + (float)(min16 << 4);
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uint32_t duty = (int)(usec / 20000.0f * 4096.0f);
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if (false)
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Serial.printf("pin=%d, angle=%.2f, usec=%.2f, us=%.2f, duty=%d, min=%d, max=%d\n",
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pin, (float)angle, usec, (float)us / 256.0f, duty, min16 << 4, max16 << 4);
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#if TEENSYDUINO >= 137
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noInterrupts();
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uint32_t oldres = analogWriteResolution(12);
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analogWrite(pin, duty);
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analogWriteResolution(oldres);
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interrupts();
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#else
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analogWriteResolution(12);
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analogWrite(pin, duty);
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#endif
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}
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uint8_t PWMServo::attached()
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{
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if (pin >= NUM_DIGITAL_PINS) return 0;
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return (attachedpins[pin >> 5] & (1 << (pin & 31))) ? 1 : 0;
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}
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#endif
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