Repository: arduino-libraries/Servo Branch: master Commit: 731d6b59c7ef Files: 40 Total size: 153.0 KB Directory structure: gitextract_8z4xhr2y/ ├── .codespellrc ├── .github/ │ ├── dependabot.yml │ └── workflows/ │ ├── check-arduino.yml │ ├── compile-examples.yml │ ├── report-size-deltas.yml │ ├── spell-check.yml │ └── sync-labels.yml ├── LICENSE.txt ├── README.adoc ├── docs/ │ ├── api.md │ └── readme.md ├── examples/ │ ├── Knob/ │ │ ├── Knob.ino │ │ └── readme.md │ └── Sweep/ │ ├── Sweep.ino │ └── readme.md ├── keywords.txt ├── library.properties └── src/ ├── Servo.h ├── avr/ │ ├── Servo.cpp │ └── ServoTimers.h ├── esp32/ │ ├── Servo.cpp │ └── ServoTimers.h ├── mbed/ │ ├── Servo.cpp │ └── ServoTimers.h ├── megaavr/ │ ├── Servo.cpp │ └── ServoTimers.h ├── nrf52/ │ ├── Servo.cpp │ └── ServoTimers.h ├── renesas/ │ ├── Servo.cpp │ └── ServoTimers.h ├── sam/ │ ├── Servo.cpp │ └── ServoTimers.h ├── samd/ │ ├── Servo.cpp │ └── ServoTimers.h ├── stm32f4/ │ ├── Servo.cpp │ └── ServoTimers.h ├── xmc/ │ ├── Servo.cpp │ └── ServoTimers.h └── zephyr/ ├── Servo.cpp └── ServoTimers.h ================================================ FILE CONTENTS ================================================ ================================================ FILE: .codespellrc ================================================ # See: https://github.com/codespell-project/codespell#using-a-config-file [codespell] # In the event of a false positive, add the problematic word, in all lowercase, to a comma-separated list here: ignore-words-list = , check-filenames = check-hidden = skip = ./.git ================================================ FILE: .github/dependabot.yml ================================================ # See: https://docs.github.com/en/github/administering-a-repository/configuration-options-for-dependency-updates#about-the-dependabotyml-file version: 2 updates: # Configure check for outdated GitHub Actions actions in workflows. # See: https://docs.github.com/en/github/administering-a-repository/keeping-your-actions-up-to-date-with-dependabot - package-ecosystem: github-actions directory: / # Check the repository's workflows under /.github/workflows/ schedule: interval: daily labels: - "topic: infrastructure" ================================================ FILE: .github/workflows/check-arduino.yml ================================================ name: Check Arduino # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows on: push: pull_request: schedule: # Run every Tuesday at 8 AM UTC to catch breakage caused by new rules added to Arduino Lint. - cron: "0 8 * * TUE" workflow_dispatch: repository_dispatch: jobs: lint: runs-on: ubuntu-latest steps: - name: Checkout repository uses: actions/checkout@v6 - name: Arduino Lint uses: arduino/arduino-lint-action@v2 with: compliance: specification library-manager: update # Always use this setting for official repositories. Remove for 3rd party projects. official: true project-type: library ================================================ FILE: .github/workflows/compile-examples.yml ================================================ name: Compile Examples # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows on: push: paths: - ".github/workflows/compile-examples.yml" - "examples/**" - "src/**" pull_request: paths: - ".github/workflows/compile-examples.yml" - "examples/**" - "src/**" schedule: # Run every Tuesday at 8 AM UTC to catch breakage caused by changes to external resources (libraries, platforms). - cron: "0 8 * * TUE" workflow_dispatch: repository_dispatch: jobs: build: name: ${{ matrix.board.fqbn }} runs-on: ubuntu-latest env: SKETCHES_REPORTS_PATH: sketches-reports strategy: fail-fast: false matrix: board: - fqbn: arduino:avr:nano platforms: | - name: arduino:avr artifact-name-suffix: arduino-avr-nano - fqbn: arduino:avr:mega platforms: | - name: arduino:avr artifact-name-suffix: arduino-avr-mega - fqbn: arduino:avr:leonardo platforms: | - name: arduino:avr artifact-name-suffix: arduino-avr-leonardo - fqbn: arduino:megaavr:nona4809 platforms: | - name: arduino:megaavr artifact-name-suffix: arduino-megaavr-nona4809 - fqbn: arduino:sam:arduino_due_x_dbg platforms: | - name: arduino:sam artifact-name-suffix: arduino-sam-arduino_due_x_dbg - fqbn: arduino:samd:mkrzero platforms: | - name: arduino:samd artifact-name-suffix: arduino-samd-mkrzero - fqbn: arduino:mbed_portenta:envie_m7:target_core=cm4 platforms: | - name: arduino:mbed_portenta artifact-name-suffix: arduino-mbed_portenta-envie_m7-target_core-cm4 - fqbn: arduino:mbed_portenta:envie_m7 platforms: | - name: arduino:mbed_portenta artifact-name-suffix: arduino-mbed_portenta-envie_m7 - fqbn: arduino:mbed_nano:nano33ble platforms: | - name: arduino:mbed_nano artifact-name-suffix: arduino-mbed_nano-nano33ble - fqbn: arduino:mbed_nano:nanorp2040connect platforms: | - name: arduino:mbed_nano artifact-name-suffix: arduino-mbed_nano-nanorp2040connect - fqbn: arduino:esp32:nano_nora platforms: | - name: arduino:esp32 artifact-name-suffix: arduino-esp32-nano_nora - fqbn: arduino:zephyr:unoq platforms: | - name: arduino:zephyr artifact-name-suffix: arduino-zephyr-unoq steps: - name: Checkout repository uses: actions/checkout@v6 - name: Compile examples uses: arduino/compile-sketches@v1 with: github-token: ${{ secrets.GITHUB_TOKEN }} fqbn: ${{ matrix.board.fqbn }} platforms: ${{ matrix.board.platforms }} libraries: | # Install the library from the local path. - source-path: ./ # Additional library dependencies can be listed here. # See: https://github.com/arduino/compile-sketches#libraries sketch-paths: | - examples enable-deltas-report: true sketches-report-path: ${{ env.SKETCHES_REPORTS_PATH }} - name: Save sketches report as workflow artifact uses: actions/upload-artifact@v7 with: if-no-files-found: error path: ${{ env.SKETCHES_REPORTS_PATH }} name: sketches-report-${{ matrix.board.artifact-name-suffix }} ================================================ FILE: .github/workflows/report-size-deltas.yml ================================================ name: Report Size Deltas # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows on: push: paths: - ".github/workflows/report-size-deltas.yml" schedule: # Run at the minimum interval allowed by GitHub Actions. # Note: GitHub Actions periodically has outages which result in workflow failures. # In this event, the workflows will start passing again once the service recovers. - cron: "*/5 * * * *" workflow_dispatch: repository_dispatch: jobs: report: runs-on: ubuntu-latest steps: - name: Comment size deltas reports to PRs uses: arduino/report-size-deltas@v1 with: # Regex matching the names of the workflow artifacts created by the "Compile Examples" workflow sketches-reports-source: ^sketches-report-.+ ================================================ FILE: .github/workflows/spell-check.yml ================================================ name: Spell Check # See: https://docs.github.com/en/free-pro-team@latest/actions/reference/events-that-trigger-workflows on: push: pull_request: schedule: # Run every Tuesday at 8 AM UTC to catch new misspelling detections resulting from dictionary updates. - cron: "0 8 * * TUE" workflow_dispatch: repository_dispatch: jobs: spellcheck: runs-on: ubuntu-latest steps: - name: Checkout repository uses: actions/checkout@v6 - name: Spell check uses: codespell-project/actions-codespell@master ================================================ FILE: .github/workflows/sync-labels.yml ================================================ # Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/sync-labels.md name: Sync Labels # See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows on: push: paths: - ".github/workflows/sync-labels.ya?ml" - ".github/label-configuration-files/*.ya?ml" pull_request: paths: - ".github/workflows/sync-labels.ya?ml" - ".github/label-configuration-files/*.ya?ml" schedule: # Run daily at 8 AM UTC to sync with changes to shared label configurations. - cron: "0 8 * * *" workflow_dispatch: repository_dispatch: env: CONFIGURATIONS_FOLDER: .github/label-configuration-files CONFIGURATIONS_ARTIFACT: label-configuration-files jobs: check: runs-on: ubuntu-latest steps: - name: Checkout repository uses: actions/checkout@v6 - name: Download JSON schema for labels configuration file id: download-schema uses: carlosperate/download-file-action@v2 with: file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/arduino-tooling-gh-label-configuration-schema.json location: ${{ runner.temp }}/label-configuration-schema - name: Install JSON schema validator run: | sudo npm install \ --global \ ajv-cli \ ajv-formats - name: Validate local labels configuration run: | # See: https://github.com/ajv-validator/ajv-cli#readme ajv validate \ --all-errors \ -c ajv-formats \ -s "${{ steps.download-schema.outputs.file-path }}" \ -d "${{ env.CONFIGURATIONS_FOLDER }}/*.{yml,yaml}" download: needs: check runs-on: ubuntu-latest strategy: matrix: filename: # Filenames of the shared configurations to apply to the repository in addition to the local configuration. # https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/assets/sync-labels - universal.yml steps: - name: Download uses: carlosperate/download-file-action@v2 with: file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/${{ matrix.filename }} - name: Pass configuration files to next job via workflow artifact uses: actions/upload-artifact@v7 with: path: | *.yaml *.yml if-no-files-found: error name: ${{ env.CONFIGURATIONS_ARTIFACT }} sync: needs: download runs-on: ubuntu-latest steps: - name: Set environment variables run: | # See: https://docs.github.com/en/actions/reference/workflow-commands-for-github-actions#setting-an-environment-variable echo "MERGED_CONFIGURATION_PATH=${{ runner.temp }}/labels.yml" >> "$GITHUB_ENV" - name: Determine whether to dry run id: dry-run if: > github.event_name == 'pull_request' || ( ( github.event_name == 'push' || github.event_name == 'workflow_dispatch' ) && github.ref != format('refs/heads/{0}', github.event.repository.default_branch) ) run: | # Use of this flag in the github-label-sync command will cause it to only check the validity of the # configuration. echo "::set-output name=flag::--dry-run" - name: Checkout repository uses: actions/checkout@v6 - name: Download configuration files artifact uses: actions/download-artifact@v8 with: name: ${{ env.CONFIGURATIONS_ARTIFACT }} path: ${{ env.CONFIGURATIONS_FOLDER }} - name: Remove unneeded artifact uses: geekyeggo/delete-artifact@v6 with: name: ${{ env.CONFIGURATIONS_ARTIFACT }} - name: Merge label configuration files run: | # Merge all configuration files shopt -s extglob cat "${{ env.CONFIGURATIONS_FOLDER }}"/*.@(yml|yaml) > "${{ env.MERGED_CONFIGURATION_PATH }}" - name: Install github-label-sync run: sudo npm install --global github-label-sync - name: Sync labels env: GITHUB_ACCESS_TOKEN: ${{ secrets.GITHUB_TOKEN }} run: | # See: https://github.com/Financial-Times/github-label-sync github-label-sync \ --labels "${{ env.MERGED_CONFIGURATION_PATH }}" \ ${{ steps.dry-run.outputs.flag }} \ ${{ github.repository }} ================================================ FILE: LICENSE.txt ================================================ GNU LESSER GENERAL PUBLIC LICENSE Version 2.1, February 1999 Copyright (C) 1991, 1999 Free Software Foundation, Inc. 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. [This is the first released version of the Lesser GPL. It also counts as the successor of the GNU Library Public License, version 2, hence the version number 2.1.] Preamble The licenses for most software are designed to take away your freedom to share and change it. By contrast, the GNU General Public Licenses are intended to guarantee your freedom to share and change free software--to make sure the software is free for all its users. This license, the Lesser General Public License, applies to some specially designated software packages--typically libraries--of the Free Software Foundation and other authors who decide to use it. You can use it too, but we suggest you first think carefully about whether this license or the ordinary General Public License is the better strategy to use in any particular case, based on the explanations below. When we speak of free software, we are referring to freedom of use, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for this service if you wish); that you receive source code or can get it if you want it; that you can change the software and use pieces of it in new free programs; and that you are informed that you can do these things. To protect your rights, we need to make restrictions that forbid distributors to deny you these rights or to ask you to surrender these rights. These restrictions translate to certain responsibilities for you if you distribute copies of the library or if you modify it. For example, if you distribute copies of the library, whether gratis or for a fee, you must give the recipients all the rights that we gave you. You must make sure that they, too, receive or can get the source code. If you link other code with the library, you must provide complete object files to the recipients, so that they can relink them with the library after making changes to the library and recompiling it. And you must show them these terms so they know their rights. We protect your rights with a two-step method: (1) we copyright the library, and (2) we offer you this license, which gives you legal permission to copy, distribute and/or modify the library. To protect each distributor, we want to make it very clear that there is no warranty for the free library. Also, if the library is modified by someone else and passed on, the recipients should know that what they have is not the original version, so that the original author's reputation will not be affected by problems that might be introduced by others. Finally, software patents pose a constant threat to the existence of any free program. We wish to make sure that a company cannot effectively restrict the users of a free program by obtaining a restrictive license from a patent holder. Therefore, we insist that any patent license obtained for a version of the library must be consistent with the full freedom of use specified in this license. Most GNU software, including some libraries, is covered by the ordinary GNU General Public License. This license, the GNU Lesser General Public License, applies to certain designated libraries, and is quite different from the ordinary General Public License. We use this license for certain libraries in order to permit linking those libraries into non-free programs. When a program is linked with a library, whether statically or using a shared library, the combination of the two is legally speaking a combined work, a derivative of the original library. The ordinary General Public License therefore permits such linking only if the entire combination fits its criteria of freedom. The Lesser General Public License permits more lax criteria for linking other code with the library. We call this license the "Lesser" General Public License because it does Less to protect the user's freedom than the ordinary General Public License. It also provides other free software developers Less of an advantage over competing non-free programs. These disadvantages are the reason we use the ordinary General Public License for many libraries. However, the Lesser license provides advantages in certain special circumstances. For example, on rare occasions, there may be a special need to encourage the widest possible use of a certain library, so that it becomes a de-facto standard. To achieve this, non-free programs must be allowed to use the library. A more frequent case is that a free library does the same job as widely used non-free libraries. In this case, there is little to gain by limiting the free library to free software only, so we use the Lesser General Public License. In other cases, permission to use a particular library in non-free programs enables a greater number of people to use a large body of free software. For example, permission to use the GNU C Library in non-free programs enables many more people to use the whole GNU operating system, as well as its variant, the GNU/Linux operating system. Although the Lesser General Public License is Less protective of the users' freedom, it does ensure that the user of a program that is linked with the Library has the freedom and the wherewithal to run that program using a modified version of the Library. The precise terms and conditions for copying, distribution and modification follow. Pay close attention to the difference between a "work based on the library" and a "work that uses the library". The former contains code derived from the library, whereas the latter must be combined with the library in order to run. GNU LESSER GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION 0. This License Agreement applies to any software library or other program which contains a notice placed by the copyright holder or other authorized party saying it may be distributed under the terms of this Lesser General Public License (also called "this License"). Each licensee is addressed as "you". A "library" means a collection of software functions and/or data prepared so as to be conveniently linked with application programs (which use some of those functions and data) to form executables. The "Library", below, refers to any such software library or work which has been distributed under these terms. A "work based on the Library" means either the Library or any derivative work under copyright law: that is to say, a work containing the Library or a portion of it, either verbatim or with modifications and/or translated straightforwardly into another language. (Hereinafter, translation is included without limitation in the term "modification".) "Source code" for a work means the preferred form of the work for making modifications to it. For a library, complete source code means all the source code for all modules it contains, plus any associated interface definition files, plus the scripts used to control compilation and installation of the library. Activities other than copying, distribution and modification are not covered by this License; they are outside its scope. The act of running a program using the Library is not restricted, and output from such a program is covered only if its contents constitute a work based on the Library (independent of the use of the Library in a tool for writing it). Whether that is true depends on what the Library does and what the program that uses the Library does. 1. You may copy and distribute verbatim copies of the Library's complete source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty; keep intact all the notices that refer to this License and to the absence of any warranty; and distribute a copy of this License along with the Library. You may charge a fee for the physical act of transferring a copy, and you may at your option offer warranty protection in exchange for a fee. 2. You may modify your copy or copies of the Library or any portion of it, thus forming a work based on the Library, and copy and distribute such modifications or work under the terms of Section 1 above, provided that you also meet all of these conditions: a) The modified work must itself be a software library. b) You must cause the files modified to carry prominent notices stating that you changed the files and the date of any change. c) You must cause the whole of the work to be licensed at no charge to all third parties under the terms of this License. d) If a facility in the modified Library refers to a function or a table of data to be supplied by an application program that uses the facility, other than as an argument passed when the facility is invoked, then you must make a good faith effort to ensure that, in the event an application does not supply such function or table, the facility still operates, and performs whatever part of its purpose remains meaningful. (For example, a function in a library to compute square roots has a purpose that is entirely well-defined independent of the application. Therefore, Subsection 2d requires that any application-supplied function or table used by this function must be optional: if the application does not supply it, the square root function must still compute square roots.) These requirements apply to the modified work as a whole. If identifiable sections of that work are not derived from the Library, and can be reasonably considered independent and separate works in themselves, then this License, and its terms, do not apply to those sections when you distribute them as separate works. But when you distribute the same sections as part of a whole which is a work based on the Library, the distribution of the whole must be on the terms of this License, whose permissions for other licensees extend to the entire whole, and thus to each and every part regardless of who wrote it. Thus, it is not the intent of this section to claim rights or contest your rights to work written entirely by you; rather, the intent is to exercise the right to control the distribution of derivative or collective works based on the Library. In addition, mere aggregation of another work not based on the Library with the Library (or with a work based on the Library) on a volume of a storage or distribution medium does not bring the other work under the scope of this License. 3. You may opt to apply the terms of the ordinary GNU General Public License instead of this License to a given copy of the Library. To do this, you must alter all the notices that refer to this License, so that they refer to the ordinary GNU General Public License, version 2, instead of to this License. (If a newer version than version 2 of the ordinary GNU General Public License has appeared, then you can specify that version instead if you wish.) Do not make any other change in these notices. Once this change is made in a given copy, it is irreversible for that copy, so the ordinary GNU General Public License applies to all subsequent copies and derivative works made from that copy. This option is useful when you wish to copy part of the code of the Library into a program that is not a library. 4. You may copy and distribute the Library (or a portion or derivative of it, under Section 2) in object code or executable form under the terms of Sections 1 and 2 above provided that you accompany it with the complete corresponding machine-readable source code, which must be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange. If distribution of object code is made by offering access to copy from a designated place, then offering equivalent access to copy the source code from the same place satisfies the requirement to distribute the source code, even though third parties are not compelled to copy the source along with the object code. 5. A program that contains no derivative of any portion of the Library, but is designed to work with the Library by being compiled or linked with it, is called a "work that uses the Library". Such a work, in isolation, is not a derivative work of the Library, and therefore falls outside the scope of this License. However, linking a "work that uses the Library" with the Library creates an executable that is a derivative of the Library (because it contains portions of the Library), rather than a "work that uses the library". The executable is therefore covered by this License. Section 6 states terms for distribution of such executables. When a "work that uses the Library" uses material from a header file that is part of the Library, the object code for the work may be a derivative work of the Library even though the source code is not. Whether this is true is especially significant if the work can be linked without the Library, or if the work is itself a library. The threshold for this to be true is not precisely defined by law. If such an object file uses only numerical parameters, data structure layouts and accessors, and small macros and small inline functions (ten lines or less in length), then the use of the object file is unrestricted, regardless of whether it is legally a derivative work. (Executables containing this object code plus portions of the Library will still fall under Section 6.) Otherwise, if the work is a derivative of the Library, you may distribute the object code for the work under the terms of Section 6. Any executables containing that work also fall under Section 6, whether or not they are linked directly with the Library itself. 6. As an exception to the Sections above, you may also combine or link a "work that uses the Library" with the Library to produce a work containing portions of the Library, and distribute that work under terms of your choice, provided that the terms permit modification of the work for the customer's own use and reverse engineering for debugging such modifications. You must give prominent notice with each copy of the work that the Library is used in it and that the Library and its use are covered by this License. You must supply a copy of this License. If the work during execution displays copyright notices, you must include the copyright notice for the Library among them, as well as a reference directing the user to the copy of this License. Also, you must do one of these things: a) Accompany the work with the complete corresponding machine-readable source code for the Library including whatever changes were used in the work (which must be distributed under Sections 1 and 2 above); and, if the work is an executable linked with the Library, with the complete machine-readable "work that uses the Library", as object code and/or source code, so that the user can modify the Library and then relink to produce a modified executable containing the modified Library. (It is understood that the user who changes the contents of definitions files in the Library will not necessarily be able to recompile the application to use the modified definitions.) b) Use a suitable shared library mechanism for linking with the Library. A suitable mechanism is one that (1) uses at run time a copy of the library already present on the user's computer system, rather than copying library functions into the executable, and (2) will operate properly with a modified version of the library, if the user installs one, as long as the modified version is interface-compatible with the version that the work was made with. c) Accompany the work with a written offer, valid for at least three years, to give the same user the materials specified in Subsection 6a, above, for a charge no more than the cost of performing this distribution. d) If distribution of the work is made by offering access to copy from a designated place, offer equivalent access to copy the above specified materials from the same place. e) Verify that the user has already received a copy of these materials or that you have already sent this user a copy. For an executable, the required form of the "work that uses the Library" must include any data and utility programs needed for reproducing the executable from it. However, as a special exception, the materials to be distributed need not include anything that is normally distributed (in either source or binary form) with the major components (compiler, kernel, and so on) of the operating system on which the executable runs, unless that component itself accompanies the executable. It may happen that this requirement contradicts the license restrictions of other proprietary libraries that do not normally accompany the operating system. Such a contradiction means you cannot use both them and the Library together in an executable that you distribute. 7. You may place library facilities that are a work based on the Library side-by-side in a single library together with other library facilities not covered by this License, and distribute such a combined library, provided that the separate distribution of the work based on the Library and of the other library facilities is otherwise permitted, and provided that you do these two things: a) Accompany the combined library with a copy of the same work based on the Library, uncombined with any other library facilities. This must be distributed under the terms of the Sections above. b) Give prominent notice with the combined library of the fact that part of it is a work based on the Library, and explaining where to find the accompanying uncombined form of the same work. 8. You may not copy, modify, sublicense, link with, or distribute the Library except as expressly provided under this License. Any attempt otherwise to copy, modify, sublicense, link with, or distribute the Library is void, and will automatically terminate your rights under this License. However, parties who have received copies, or rights, from you under this License will not have their licenses terminated so long as such parties remain in full compliance. 9. You are not required to accept this License, since you have not signed it. However, nothing else grants you permission to modify or distribute the Library or its derivative works. These actions are prohibited by law if you do not accept this License. Therefore, by modifying or distributing the Library (or any work based on the Library), you indicate your acceptance of this License to do so, and all its terms and conditions for copying, distributing or modifying the Library or works based on it. 10. Each time you redistribute the Library (or any work based on the Library), the recipient automatically receives a license from the original licensor to copy, distribute, link with or modify the Library subject to these terms and conditions. You may not impose any further restrictions on the recipients' exercise of the rights granted herein. You are not responsible for enforcing compliance by third parties with this License. 11. If, as a consequence of a court judgment or allegation of patent infringement or for any other reason (not limited to patent issues), conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not distribute the Library at all. For example, if a patent license would not permit royalty-free redistribution of the Library by all those who receive copies directly or indirectly through you, then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Library. If any portion of this section is held invalid or unenforceable under any particular circumstance, the balance of the section is intended to apply, and the section as a whole is intended to apply in other circumstances. It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims; this section has the sole purpose of protecting the integrity of the free software distribution system which is implemented by public license practices. Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system; it is up to the author/donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice. This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License. 12. If the distribution and/or use of the Library is restricted in certain countries either by patents or by copyrighted interfaces, the original copyright holder who places the Library under this License may add an explicit geographical distribution limitation excluding those countries, so that distribution is permitted only in or among countries not thus excluded. In such case, this License incorporates the limitation as if written in the body of this License. 13. The Free Software Foundation may publish revised and/or new versions of the Lesser General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns. Each version is given a distinguishing version number. If the Library specifies a version number of this License which applies to it and "any later version", you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation. If the Library does not specify a license version number, you may choose any version ever published by the Free Software Foundation. 14. If you wish to incorporate parts of the Library into other free programs whose distribution conditions are incompatible with these, write to the author to ask for permission. For software which is copyrighted by the Free Software Foundation, write to the Free Software Foundation; we sometimes make exceptions for this. Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally. NO WARRANTY 15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. END OF TERMS AND CONDITIONS How to Apply These Terms to Your New Libraries If you develop a new library, and you want it to be of the greatest possible use to the public, we recommend making it free software that everyone can redistribute and change. You can do so by permitting redistribution under these terms (or, alternatively, under the terms of the ordinary General Public License). To apply these terms, attach the following notices to the library. It is safest to attach them to the start of each source file to most effectively convey the exclusion of warranty; and each file should have at least the "copyright" line and a pointer to where the full notice is found. Copyright (C) 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 Street, Fifth Floor, Boston, MA 02110-1301 USA Also add information on how to contact you by electronic and paper mail. You should also get your employer (if you work as a programmer) or your school, if any, to sign a "copyright disclaimer" for the library, if necessary. Here is a sample; alter the names: Yoyodyne, Inc., hereby disclaims all copyright interest in the library `Frob' (a library for tweaking knobs) written by James Random Hacker. , 1 April 1990 Ty Coon, President of Vice That's all there is to it! ================================================ FILE: README.adoc ================================================ :repository-owner: arduino-libraries :repository-name: Servo = {repository-name} Library for Arduino = image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/check-arduino.yml/badge.svg["Check Arduino status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/check-arduino.yml"] image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/compile-examples.yml/badge.svg["Compile Examples status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/compile-examples.yml"] image:https://github.com/{repository-owner}/{repository-name}/actions/workflows/spell-check.yml/badge.svg["Spell Check status", link="https://github.com/{repository-owner}/{repository-name}/actions/workflows/spell-check.yml"] This library allows an Arduino board to control RC (hobby) servo motors. For more information about this library please visit us at https://www.arduino.cc/reference/en/libraries/servo/ ================================================ FILE: docs/api.md ================================================ # Servo library ## Methods ### `attach()` Attach the Servo variable to a pin. Note that in Arduino IDE 0016 and earlier, the Servo library supports servos on only two pins: 9 and 10. #### Syntax ``` servo.attach(pin) servo.attach(pin, min, max) ``` #### Parameters * _servo_: a variable of type `Servo` * _pin_: the number of the pin that the servo is attached to * _min_ (optional): the pulse width, in microseconds, corresponding to the minimum (0 degree) angle on the servo (defaults to 544) * _max_ (optional): the pulse width, in microseconds, corresponding to the maximum (180 degree) angle on the servo (defaults to 2400) #### Example ``` #include Servo myservo; void setup() { myservo.attach(9); } void loop() {} ``` #### See also * [attached()](#attached) * [detach()](#detach) ### `write()` Writes a value to the servo, controlling the shaft accordingly. On a standard servo, this will set the angle of the shaft (in degrees), moving the shaft to that orientation. On a continuous rotation servo, this will set the speed of the servo (with 0 being full-speed in one direction, 180 being full speed in the other, and a value near 90 being no movement). #### Syntax ``` servo.write(angle) ``` #### Parameters * _servo_: a variable of type Servo * _angle_: the value to write to the servo, from 0 to 180 #### Example ```` #include Servo myservo; void setup() { myservo.attach(9); myservo.write(90); // set servo to mid-point } void loop() {} ```` #### See also * [attach()](#attach) * [read()](#read) ### `writeMicroseconds()` Writes a value in microseconds (us) to the servo, controlling the shaft accordingly. On a standard servo, this will set the angle of the shaft. On standard servos a parameter value of 1000 is fully counter-clockwise, 2000 is fully clockwise, and 1500 is in the middle. Note that some manufactures do not follow this standard very closely so that servos often respond to values between 700 and 2300. Feel free to increase these endpoints until the servo no longer continues to increase its range. Note however that attempting to drive a servo past its endpoints (often indicated by a growling sound) is a high-current state, and should be avoided. Continuous-rotation servos will respond to the writeMicrosecond function in an manner analogous to the write function. #### Syntax ```` servo.writeMicroseconds(us) ```` #### Parameters * _servo_: a variable of type Servo * _us_: the value of the parameter in microseconds (int) #### Example ```` #include Servo myservo; void setup() { myservo.attach(9); myservo.writeMicroseconds(1500); // set servo to mid-point } void loop() {} ```` #### See also * [attach()](#attach) * [read()](#read) ### `read()` Read the current setpoint of the servo (the angle passed to the last call to [write()](#write)). Note that the servo has no way of reporting its current physical orientation. This method returns the angle to which the sketch program has requested the servo to move, regardless of whether the servo has already reached that angle. #### Syntax ```` servo.read() ```` #### Parameters * _servo_: a variable of type `Servo` #### Returns The setpoint of the servo, as an angle from 0 to 180 degrees. #### See also * [write()](#write) ### `attached()` Check whether the Servo variable is attached to a pin. #### Syntax ``` servo.attached() ``` #### Parameters * _servo_: a variable of type `Servo` #### Returns `true` if the servo is attached to pin; `false` otherwise. #### See also * [attach()](#attach) * [detach()](#detach) ### `detach()` Detach the Servo variable from its pin. If all Servo variables are detached, then pins 9 and 10 can be used for PWM output with [analogWrite()](https://www.arduino.cc/reference/en/language/functions/analog-io/analogwrite/). #### Syntax ``` servo.detach() ``` #### Parameters * _servo_: a variable of type `Servo` #### See also * [attach()](#attach) * [attached()](#attached) ================================================ FILE: docs/readme.md ================================================ # Servo library This library allows an Arduino board to control RC (hobby) servo motors. Servos have integrated gears and a shaft that can be precisely controlled. Standard servos allow the shaft to be positioned at various angles, usually between 0 and 180 degrees. Continuous rotation servos allow the rotation of the shaft to be set to various speeds. The Servo library supports up to 12 motors on most Arduino boards and 48 on the Arduino Mega. On boards other than the Mega, use of the library disables `analogWrite()` (PWM) functionality on pins 9 and 10, whether or not there is a Servo on those pins. On the Mega, up to 12 servos can be used without interfering with PWM functionality; use of 12 to 23 motors will disable PWM on pins 11 and 12. To use this library: ``` #include ``` ## Circuit Servo motors have three wires: power, ground, and signal. The power wire is typically red, and should be connected to the 5V pin on the Arduino board. The ground wire is typically black or brown and should be connected to a ground pin on the Arduino board. The signal pin is typically yellow, orange or white and should be connected to a digital pin on the Arduino board. Note that servos draw considerable power, so if you need to drive more than one or two, you'll probably need to power them from a separate supply (i.e. not the 5V pin on your Arduino). Be sure to connect the grounds of the Arduino and external power supply together. ## Examples * [Knob](https://www.arduino.cc/en/Tutorial/Knob): control the shaft of a servo motor by turning a potentiometer * [Sweep](https://www.arduino.cc/en/Tutorial/LibraryExamples/Sweep): sweeps the shaft of a servo motor back and forth ================================================ FILE: examples/Knob/Knob.ino ================================================ /* 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 = A0; // 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 for use 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 } ================================================ FILE: examples/Knob/readme.md ================================================ # Knob Control the position of an RC (hobby) [servo motor](http://en.wikipedia.org/wiki/Servo_motor#RC_servos) with your Arduino and a potentiometer. This example makes use of the Arduino `Servo` library. ## Hardware Required * an Arduino board * Servo motor * 10k ohm potentiometer * hook-up wires ## Circuit Servo motors have three wires: power, ground, and signal. The power wire is typically red, and should be connected to the 5V pin on the Arduino board. The ground wire is typically black or brown and should be connected to a ground pin on the board. The signal pin is typically yellow or orange and should be connected to pin 9 on the board. The potentiometer should be wired so that its two outer pins are connected to power (5V) and ground, and its middle pin is connected to analog input 0 on the board. ![](images/knob_BB.png) (Images developed using Fritzing. For more circuit examples, see the [Fritzing project page](http://fritzing.org/projects/)) ## Schematic ![](images/knob_schem.png) ## See also * [attach()](/docs/api.md#attach) * [write()](/docs/api.md#write) * [map()](https://www.arduino.cc/en/Reference/Map) * [analogRead()](https://www.arduino.cc/en/Reference/AnalogRead) * [Servo library reference](/docs/readme.md) * [Sweep](../Sweep) - Sweep the shaft of a servo motor back and forth ================================================ FILE: examples/Sweep/Sweep.ino ================================================ /* Sweep by BARRAGAN This example code is in the public domain. modified 8 Nov 2013 by Scott Fitzgerald https://www.arduino.cc/en/Tutorial/LibraryExamples/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 15 ms 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 15 ms for the servo to reach the position } } ================================================ FILE: examples/Sweep/readme.md ================================================ # Sweep Sweeps the shaft of an RC [servo motor](http://en.wikipedia.org/wiki/Servo_motor#RC_servos) back and forth across 180 degrees. ## Hardware Required * Arduino Board * Servo Motor * Hook-up wires ## Circuit Servo motors have three wires: power, ground, and signal. The power wire is typically red, and should be connected to the 5V pin on the Arduino board. The ground wire is typically black or brown and should be connected to a ground pin on the board. The signal pin is typically yellow, orange or white and should be connected to pin 9 on the board. ![](images/sweep_bb.png) (Images developed using Fritzing. For more circuit examples, see the [Fritzing project page](http://fritzing.org/projects/)) ## Schematic ![](images/sweep_schem.png) ## See also * [attach()](/docs/api.md#attach) * [write()](/docs/api.md#write) * [map()](https://www.arduino.cc/en/Reference/Map) * [Servo library reference](/docs/readme.md) * [Knob](../Knob) - Control the position of a servo with a potentiometer ================================================ FILE: keywords.txt ================================================ ####################################### # 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) ####################################### ================================================ FILE: library.properties ================================================ name=Servo version=1.3.0 author=Michael Margolis, Arduino maintainer=Arduino sentence=Allows Arduino 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=https://www.arduino.cc/reference/en/libraries/servo/ architectures=avr,megaavr,sam,samd,nrf52,stm32f4,mbed,mbed_nano,mbed_portenta,mbed_rp2040,renesas,renesas_portenta,renesas_uno,zephyr ================================================ FILE: src/Servo.h ================================================ /* 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 /* * 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" #elif defined(ARDUINO_ARCH_RENESAS) #include "renesas/ServoTimers.h" #elif defined(ARDUINO_ARCH_XMC) #include "xmc/ServoTimers.h" #elif defined(ARDUINO_ARCH_ESP32) #include "esp32/ServoTimers.h" #elif defined(ARDUINO_ARCH_ZEPHYR) #include "zephyr/ServoTimers.h" #else #error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4, Renesas, XMC, ESP32 or Zephyr core." #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) && !defined(ARDUINO_ARCH_XMC) 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 INVALID_SERVO 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 it's 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 ================================================ FILE: src/avr/Servo.cpp ================================================ /* 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 ticks (assumes prescaler 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); // it's 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 (void) timer; // squash "unused parameter 'timer' [-Wunused-parameter]" warning #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 ================================================ FILE: src/avr/ServoTimers.h ================================================ /* 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 ================================================ FILE: src/esp32/Servo.cpp ================================================ #if defined(ARDUINO_ARCH_ESP32) #include #include #if defined __has_include # if __has_include ("pinDefinitions.h") # include "pinDefinitions.h" # endif #endif /* * This group/channel/timmer mapping is for information only; * the details are handled by lower-level code * * LEDC Chan to Group/Channel/Timer Mapping ** ledc: 0 => Group: 0, Channel: 0, Timer: 0 ** ledc: 1 => Group: 0, Channel: 1, Timer: 0 ** ledc: 2 => Group: 0, Channel: 2, Timer: 1 ** ledc: 3 => Group: 0, Channel: 3, Timer: 1 ** ledc: 4 => Group: 0, Channel: 4, Timer: 2 ** ledc: 5 => Group: 0, Channel: 5, Timer: 2 ** ledc: 6 => Group: 0, Channel: 6, Timer: 3 ** ledc: 7 => Group: 0, Channel: 7, Timer: 3 ** ledc: 8 => Group: 1, Channel: 0, Timer: 0 ** ledc: 9 => Group: 1, Channel: 1, Timer: 0 ** ledc: 10 => Group: 1, Channel: 2, Timer: 1 ** ledc: 11 => Group: 1, Channel: 3, Timer: 1 ** ledc: 12 => Group: 1, Channel: 4, Timer: 2 ** ledc: 13 => Group: 1, Channel: 5, Timer: 2 ** ledc: 14 => Group: 1, Channel: 6, Timer: 3 ** ledc: 15 => Group: 1, Channel: 7, Timer: 3 */ class ServoImpl { uint8_t pin; public: ServoImpl(const uint8_t _pin, const uint8_t _channel) : pin(_pin) { // Setup timer ledcSetup(_channel, (1000000 / REFRESH_INTERVAL), LEDC_MAX_BIT_WIDTH); // Attach timer to a LED pin ledcAttachPin(pin, _channel); } ~ServoImpl() { ledcDetachPin(pin); } void set(const uint8_t _channel, const uint32_t duration_us) { ledcWrite(_channel, LEDC_US_TO_TICKS(duration_us)); } uint32_t get(const uint8_t _channel) const { return LEDC_TICKS_TO_US(ledcRead(_channel)); } }; static ServoImpl* servos[MAX_PWM_SERVOS] = {nullptr}; // static array of servo structures uint8_t ServoCount = 0; // the total number of attached servos #define SERVO_MIN() (MIN_PULSE_WIDTH - this->min) // minimum value in us for this servo #define SERVO_MAX() (MAX_PULSE_WIDTH - this->max) // maximum value in us for this servo Servo::Servo() { if (ServoCount < MAX_PWM_SERVOS) { this->servoIndex = ServoCount++; } 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) { servos[this->servoIndex] = new ServoImpl(pin, this->servoIndex); this->min = (MIN_PULSE_WIDTH - min); this->max = (MAX_PULSE_WIDTH - max); return this->servoIndex; } void Servo::detach() { delete servos[this->servoIndex]; servos[this->servoIndex] = NULL; } 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) { if (!servos[this->servoIndex]) { return; } // calculate and store the values for the given channel byte channel = this->servoIndex; if( (channel < MAX_PWM_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(); servos[this->servoIndex]->set(this->servoIndex, value); } } int Servo::read() // return the value as degrees { return map(readMicroseconds(), SERVO_MIN(), SERVO_MAX(), 0, 180); } int Servo::readMicroseconds() { if (!servos[this->servoIndex]) { return 0; } return servos[this->servoIndex]->get(this->servoIndex); } bool Servo::attached() { return servos[this->servoIndex] != NULL; } #endif ================================================ FILE: src/esp32/ServoTimers.h ================================================ #define MAX_PWM_SERVOS 16 #define LEDC_MAX_BIT_WIDTH SOC_LEDC_TIMER_BIT_WIDE_NUM constexpr uint32_t BIT_RESOLUTION = (1 << LEDC_MAX_BIT_WIDTH) - 1; #define LEDC_US_TO_TICKS(us) static_cast((us * BIT_RESOLUTION) / REFRESH_INTERVAL) #define LEDC_TICKS_TO_US(ticks) static_cast((ticks * REFRESH_INTERVAL) / BIT_RESOLUTION) ================================================ FILE: src/mbed/Servo.cpp ================================================ #if defined(ARDUINO_ARCH_MBED) #include #include #include #if defined __has_include # if __has_include ("pinDefinitions.h") # include "pinDefinitions.h" # endif #endif class ServoImpl { mbed::DigitalOut *pin; mbed::Timeout timeout; // calls a callback once when a timeout expires mbed::Ticker ticker; // calls a callback repeatedly with a timeout public: ServoImpl(PinName _pin) { pin = new mbed::DigitalOut(_pin); } ~ServoImpl() { ticker.detach(); timeout.detach(); delete pin; } void start(uint32_t duration_us) { duration = duration_us; ticker.attach(mbed::callback(this, &ServoImpl::call), 0.02f); } void call() { timeout.attach(mbed::callback(this, &ServoImpl::toggle), duration / 1e6); toggle(); } void toggle() { *pin = !*pin; } int32_t duration = -1; }; static ServoImpl* servos[MAX_SERVOS]; // static array of servo structures uint8_t ServoCount = 0; // the total number of attached servos #define SERVO_MIN() (MIN_PULSE_WIDTH - this->min) // minimum value in us for this servo #define SERVO_MAX() (MAX_PULSE_WIDTH - this->max) // maximum value in us for this servo #define TRIM_DURATION 15 //callback overhead (35 us) -> 15 us if toggle() is called after starting the timeout Servo::Servo() { if (ServoCount < MAX_SERVOS) { this->servoIndex = ServoCount++; } 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) { pinMode(pin, OUTPUT); // set servo pin to output servos[this->servoIndex] = new ServoImpl(digitalPinToPinName(pin)); this->min = (MIN_PULSE_WIDTH - min); this->max = (MAX_PULSE_WIDTH - max); return this->servoIndex; } void Servo::detach() { delete servos[this->servoIndex]; servos[this->servoIndex] = NULL; } 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) { if (!servos[this->servoIndex]) { return; } // 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; if (servos[this->servoIndex]->duration == -1) { servos[this->servoIndex]->start(value); } servos[this->servoIndex]->duration = value; } } int Servo::read() // return the value as degrees { return map(readMicroseconds(), SERVO_MIN(), SERVO_MAX(), 0, 180); } int Servo::readMicroseconds() { if (!servos[this->servoIndex]) { return 0; } return servos[this->servoIndex]->duration; } bool Servo::attached() { return servos[this->servoIndex] != NULL; } #endif ================================================ FILE: src/mbed/ServoTimers.h ================================================ #define _Nbr_16timers 32 ================================================ FILE: src/megaavr/Servo.cpp ================================================ #if defined(ARDUINO_ARCH_MEGAAVR) #include #include #define usToTicks(_us) ((clockCyclesPerMicrosecond() / 16 * _us) / 4) // converts microseconds to ticks #define ticksToUs(_ticks) (((unsigned) _ticks * 16) / (clockCyclesPerMicrosecond() / 4)) // 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 #undef REFRESH_INTERVAL #define REFRESH_INTERVAL 16000 void ServoHandler(int timer) { if (currentServoIndex[timer] < 0) { // Write compare register _timer->CCMP = 0; } 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 = 0; //_timer->CCMP; _timer->CCMP = (uint16_t) (tcCounterValue + SERVO(timer, currentServoIndex[timer]).ticks); } else { // finished all channels so wait for the refresh period to expire before starting over // Get the counter value uint16_t tcCounterValue = _timer->CCMP; if (tcCounterValue + 4UL < usToTicks(REFRESH_INTERVAL)) { // allow a few ticks to ensure the next OCR1A not missed _timer->CCMP = (uint16_t) usToTicks(REFRESH_INTERVAL); } else { _timer->CCMP = (uint16_t) (tcCounterValue + 4UL); // at least REFRESH_INTERVAL has elapsed } currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel } /* Clear flag */ _timer->INTFLAGS = TCB_CAPT_bm; } #if defined USE_TIMERB0 ISR(TCB0_INT_vect) #elif defined USE_TIMERB1 ISR(TCB1_INT_vect) #elif defined USE_TIMERB2 ISR(TCB2_INT_vect) #endif { ServoHandler(0); } static void initISR(timer16_Sequence_t timer) { //TCA0.SINGLE.CTRLA = (TCA_SINGLE_CLKSEL_DIV16_gc) | (TCA_SINGLE_ENABLE_bm); _timer->CTRLA = TCB_CLKSEL_CLKTCA_gc; // Timer to Periodic interrupt mode // This write will also disable any active PWM outputs _timer->CTRLB = TCB_CNTMODE_INT_gc; // Enable interrupt _timer->INTCTRL = TCB_CAPTEI_bm; // Enable timer _timer->CTRLA |= TCB_ENABLE_bm; } static void finISR(timer16_Sequence_t timer) { // Disable interrupt _timer->INTCTRL = 0; } 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 ================================================ FILE: src/megaavr/ServoTimers.h ================================================ /* Copyright (c) 2018 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 * */ #ifndef __SERVO_TIMERS_H__ #define __SERVO_TIMERS_H__ #include //#define USE_TIMERB1 // interferes with PWM on pin 3 #define USE_TIMERB2 // interferes with PWM on pin 11 //#define USE_TIMERB0 // interferes with PWM on pin 6 #if !defined(USE_TIMERB1) && !defined(USE_TIMERB2) && !defined(USE_TIMERB0) # error "No timers allowed for Servo" /* Please uncomment a timer above and rebuild */ #endif static volatile TCB_t* _timer = #if defined(USE_TIMERB0) &TCB0; #endif #if defined(USE_TIMERB1) &TCB1; #endif #if defined(USE_TIMERB2) &TCB2; #endif typedef enum { timer0, _Nbr_16timers } timer16_Sequence_t; #endif /* __SERVO_TIMERS_H__ */ ================================================ FILE: src/nrf52/Servo.cpp ================================================ /* Copyright (c) 2016 Arduino. 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_NRF52) #include #include static servo_t servos[MAX_SERVOS]; // static array of servo structures uint8_t ServoCount = 0; // the total number of attached servos uint32_t group_pins[3][NRF_PWM_CHANNEL_COUNT]={{NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}, {NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}, {NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}}; static uint16_t seq_values[3][NRF_PWM_CHANNEL_COUNT]={{0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}}; Servo::Servo() { if (ServoCount < MAX_SERVOS) { this->servoIndex = ServoCount++; // assign a servo index to this instance } else { this->servoIndex = INVALID_SERVO; // too many servos } } uint8_t Servo::attach(int pin) { return this->attach(pin, 0, 2500); } uint8_t Servo::attach(int pin, int min, int max) { int servo_min, servo_max; if (this->servoIndex < MAX_SERVOS) { pinMode(pin, OUTPUT); // set servo pin to output servos[this->servoIndex].Pin.nbr = pin; if(min < servo_min) min = servo_min; if (max > servo_max) max = servo_max; this->min = min; this->max = max; servos[this->servoIndex].Pin.isActive = true; } return this->servoIndex; } void Servo::detach() { servos[this->servoIndex].Pin.isActive = false; } void Servo::write(int value) { if (value < 0) value = 0; else if (value > 180) value = 180; value = map(value, 0, 180, MIN_PULSE, MAX_PULSE); writeMicroseconds(value); } void Servo::writeMicroseconds(int value) { uint8_t channel, instance; uint8_t pin = servos[this->servoIndex].Pin.nbr; //instance of PWM module is MSB - look at VWariant.h instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16; //index of PWM channel is LSB - look at VWariant.h channel=g_APinDescription[pin].ulPWMChannel & 0x0F; group_pins[instance][channel]=g_APinDescription[pin].ulPin; NRF_PWM_Type * PWMInstance = instance == 0 ? NRF_PWM0 : (instance == 1 ? NRF_PWM1 : NRF_PWM2); //configure PWM instance and enable it seq_values[instance][channel]= value | 0x8000; nrf_pwm_sequence_t const seq={ seq_values[instance], NRF_PWM_VALUES_LENGTH(seq_values), 0, 0 }; nrf_pwm_pins_set(PWMInstance, group_pins[instance]); nrf_pwm_enable(PWMInstance); nrf_pwm_configure(PWMInstance, NRF_PWM_CLK_125kHz, NRF_PWM_MODE_UP, 2500); // 20ms - 50Hz nrf_pwm_decoder_set(PWMInstance, NRF_PWM_LOAD_INDIVIDUAL, NRF_PWM_STEP_AUTO); nrf_pwm_sequence_set(PWMInstance, 0, &seq); nrf_pwm_loop_set(PWMInstance, 0UL); nrf_pwm_task_trigger(PWMInstance, NRF_PWM_TASK_SEQSTART0); } int Servo::read() // return the value as degrees { return map(readMicroseconds(), MIN_PULSE, MAX_PULSE, 0, 180); } int Servo::readMicroseconds() { uint8_t channel, instance; uint8_t pin=servos[this->servoIndex].Pin.nbr; instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16; channel=g_APinDescription[pin].ulPWMChannel & 0x0F; // remove the 16th bit we added before return seq_values[instance][channel] & 0x7FFF; } bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; } #endif // ARDUINO_ARCH_NRF52 ================================================ FILE: src/nrf52/ServoTimers.h ================================================ /* Copyright (c) 2016 Arduino. 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 */ /* * nRF52 doesn't use timer, but PWM. This file includes definitions to keep * compatibility with the Servo library standards. */ #ifndef __SERVO_TIMERS_H__ #define __SERVO_TIMERS_H__ /** * nRF52 only definitions * --------------------- */ #define MIN_PULSE 55 #define MAX_PULSE 284 // define one timer in order to have MAX_SERVOS = 12 typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t; #endif // __SERVO_TIMERS_H__ ================================================ FILE: src/renesas/Servo.cpp ================================================ /* The MIT License (MIT) * * Copyright (c) 2022 Arduino SA * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #if defined(ARDUINO_ARCH_RENESAS) #include "Arduino.h" #include "Servo.h" #include "ServoTimers.h" #include "math.h" #include "FspTimer.h" #define SERVO_MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER) #define SERVO_INVALID_INDEX (255) // Lower the timer ticks for finer resolution. #define SERVO_US_PER_CYCLE (20000) #define SERVO_IO_PORT_ADDR(pn) &((R_PORT0 + ((uint32_t) (R_PORT1 - R_PORT0) * (pn)))->PCNTR3) #define SERVO_MIN_CYCLE_OFF_US 50 // Internal Servo struct to keep track of RA configuration. typedef struct { // Servo period in microseconds. uint32_t period_us; // Store min/max pulse width here, because min/max in // Servo class are not wide enough for the pulse width. uint32_t period_min; uint32_t period_max; // Period period_count in timer ticks. uint32_t period_ticks; // Internal FSP GPIO port/pin control bits. volatile uint32_t *io_port; uint32_t io_mask; } ra_servo_t; // Keep track of the total number of servos attached. static size_t n_servos=0; static ra_servo_t ra_servos[SERVO_MAX_SERVOS]; static FspTimer servo_timer; static bool servo_timer_started = false; void servo_timer_callback(timer_callback_args_t *args); static uint32_t servo_ticks_per_cycle = 0; static uint32_t min_servo_cycle_low = 0; static uint32_t active_servos_mask = 0; static uint32_t active_servos_mask_refresh = 0; static uint32_t us_to_ticks(uint32_t time_us) { return ((float) servo_ticks_per_cycle / (float) SERVO_US_PER_CYCLE) * time_us; } static int servo_timer_config(uint32_t period_us) { static bool configured = false; if (configured == false) { // Configure and enable the servo timer. uint8_t type = 0; int8_t channel = FspTimer::get_available_timer(type); if (channel != -1) { servo_timer.begin(TIMER_MODE_PERIODIC, type, channel, 1000000.0f/period_us, 50.0f, servo_timer_callback, nullptr); servo_timer.set_period_buffer(false); // disable period buffering servo_timer.setup_overflow_irq(10); servo_timer.open(); servo_timer.stop(); // Read the timer's period count. servo_ticks_per_cycle = servo_timer.get_period_raw(); min_servo_cycle_low = us_to_ticks(SERVO_MIN_CYCLE_OFF_US); configured = true; } } return configured ? 0 : -1; } static int servo_timer_start() { // Start the timer if it's not started if (servo_timer_started == false && servo_timer.start() == false) { return -1; } servo_timer_started = true; return 0; } static int servo_timer_stop() { // Start the timer if it's not started if (servo_timer_started == true && servo_timer.stop() == false) { return -1; } servo_timer_started = false; return 0; } inline static void servo_timer_set_period(uint32_t period) { servo_timer.set_period(period); } void servo_timer_callback(timer_callback_args_t *args) { (void)args; // remove warning static uint8_t channel = SERVO_MAX_SERVOS; static uint8_t channel_pin_set_high = 0xff; static uint32_t ticks_accum = 0; // See if we need to set a servo back low if (channel_pin_set_high != 0xff) { *ra_servos[channel_pin_set_high].io_port = ra_servos[channel_pin_set_high].io_mask << 16; } // Find the next servo to set high while (active_servos_mask_refresh) { channel = __builtin_ctz(active_servos_mask_refresh); if (ra_servos[channel].period_us) { *ra_servos[channel].io_port = ra_servos[channel].io_mask; servo_timer_set_period(ra_servos[channel].period_ticks); channel_pin_set_high = channel; ticks_accum += ra_servos[channel].period_ticks; active_servos_mask_refresh &= ~(1 << channel); return; } active_servos_mask_refresh &= ~(1 << channel); } // Finished processing all servos, now delay to start of next pass. ticks_accum += min_servo_cycle_low; uint32_t time_to_next_cycle; if (servo_ticks_per_cycle > ticks_accum) { time_to_next_cycle = servo_ticks_per_cycle - ticks_accum; } else { time_to_next_cycle = min_servo_cycle_low; } ticks_accum = 0; servo_timer_set_period(time_to_next_cycle); channel_pin_set_high = 0xff; active_servos_mask_refresh = active_servos_mask; } Servo::Servo() { servoIndex = SERVO_INVALID_INDEX; } uint8_t Servo::attach(int pin) { return attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); } bool Servo::attached() { return (servoIndex != SERVO_INVALID_INDEX); } uint8_t Servo::attach(int pin, int min, int max) { //assert(pin < NUM_DIGITAL_PINS); ? if (n_servos == SERVO_MAX_SERVOS) { return 0; } // Configure the servo timer. if (servo_timer_config(SERVO_US_PER_CYCLE) != 0) { return 0; } // Try to find a free servo slot. ra_servo_t *servo = NULL; bsp_io_port_pin_t io_pin = g_pin_cfg[pin].pin; for (size_t i=0; iperiod_us == 0) { n_servos++; servoIndex = i; servo->period_min = min; servo->period_max = max; servo->io_mask = (1U << (io_pin & 0xFF)); servo->io_port = SERVO_IO_PORT_ADDR(((io_pin >> 8U) & 0xFF)); active_servos_mask |= (1 << i); // update mask of servos that are active. writeMicroseconds(DEFAULT_PULSE_WIDTH); break; } } if (servoIndex == SERVO_INVALID_INDEX) { return 0; } // Configure GPIO pin for the servo. R_IOPORT_PinCfg(&g_ioport_ctrl, io_pin, IOPORT_CFG_PORT_DIRECTION_OUTPUT | IOPORT_CFG_PORT_OUTPUT_HIGH); // Start the timer if it's not started. if (servo_timer_start() != 0) { return 0; } return 1; } void Servo::detach() { if (servoIndex != SERVO_INVALID_INDEX) { ra_servo_t *servo = &ra_servos[servoIndex]; servo_timer_stop(); servo->period_us = 0; active_servos_mask &= ~(1 << servoIndex); // update mask of servos that are active. servoIndex = SERVO_INVALID_INDEX; if (--n_servos) { servo_timer_start(); } } } void Servo::write(int angle) { if (servoIndex != SERVO_INVALID_INDEX) { ra_servo_t *servo = &ra_servos[servoIndex]; angle = constrain(angle, 0, 180); writeMicroseconds(map(angle, 0, 180, servo->period_min, servo->period_max)); } } int Servo::read() { if (servoIndex != SERVO_INVALID_INDEX) { ra_servo_t *servo = &ra_servos[servoIndex]; return map(servo->period_us, servo->period_min, servo->period_max, 0, 180); } return 0; } void Servo::writeMicroseconds(int us) { if (servoIndex != SERVO_INVALID_INDEX) { ra_servo_t *servo = &ra_servos[servoIndex]; servo->period_us = constrain(us, servo->period_min, servo->period_max); servo->period_ticks = us_to_ticks(servo->period_us); } } int Servo::readMicroseconds() { if (servoIndex != SERVO_INVALID_INDEX) { ra_servo_t *servo = &ra_servos[servoIndex]; return servo->period_us; } return 0; } #endif // defined(ARDUINO_ARCH_RENESAS) ================================================ FILE: src/renesas/ServoTimers.h ================================================ #define _Nbr_16timers 1 ================================================ FILE: src/sam/Servo.cpp ================================================ /* 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 ticks #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); // it's 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 /* 84 MHz, MCK/32, for 1.5 ms: 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 ================================================ FILE: src/sam/ServoTimers.h ================================================ /* 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 ; ================================================ FILE: src/samd/Servo.cpp ================================================ /* 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 ticks #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 ================================================ FILE: src/samd/ServoTimers.h ================================================ /* 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__ ================================================ FILE: src/stm32f4/Servo.cpp ================================================ /****************************************************************************** * The MIT License * * Copyright (c) 2010, LeafLabs, LLC. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation * files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, * modify, merge, publish, distribute, sublicense, and/or sell copies * of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. *****************************************************************************/ #if defined(ARDUINO_ARCH_STM32F4) #include "ServoTimers.h" #include "boards.h" #include "io.h" #include "pwm.h" #include "math.h" // 20 millisecond period config. For a 1-based prescaler, // // (prescaler * overflow / CYC_MSEC) msec = 1 timer cycle = 20 msec // => prescaler * overflow = 20 * CYC_MSEC // // This picks the smallest prescaler that allows an overflow < 2^16. #define MAX_OVERFLOW ((1 << 16) - 1) #define CYC_MSEC (1000 * CYCLES_PER_MICROSECOND) #define TAU_MSEC 20 #define TAU_USEC (TAU_MSEC * 1000) #define TAU_CYC (TAU_MSEC * CYC_MSEC) #define SERVO_PRESCALER (TAU_CYC / MAX_OVERFLOW + 1) #define SERVO_OVERFLOW ((uint16)round((double)TAU_CYC / SERVO_PRESCALER)) // Unit conversions #define US_TO_COMPARE(us) ((uint16)map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW)) #define COMPARE_TO_US(c) ((uint32)map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC)) #define ANGLE_TO_US(a) ((uint16)(map((a), this->minAngle, this->maxAngle, \ this->minPW, this->maxPW))) #define US_TO_ANGLE(us) ((int16)(map((us), this->minPW, this->maxPW, \ this->minAngle, this->maxAngle))) Servo::Servo() { this->resetFields(); } bool Servo::attach(uint8 pin, uint16 minPW, uint16 maxPW, int16 minAngle, int16 maxAngle) { // SerialUSB.begin(115200); // SerialUSB.println(MAX_OVERFLOW); timer_dev *tdev = PIN_MAP[pin].timer_device; analogWriteResolution(16); int prescaler = 6; int overflow = 65400; int minPW_correction = 300; int maxPW_correction = 300; pinMode(pin, OUTPUT); if (tdev == NULL) { // don't reset any fields or ASSERT(0), to keep driving any // previously attach()ed servo. return false; } if ( (tdev == TIMER1) || (tdev == TIMER8) || (tdev == TIMER10) || (tdev == TIMER11)) { prescaler = 54; overflow = 65400; minPW_correction = 40; maxPW_correction = 50; } if ( (tdev == TIMER2) || (tdev == TIMER3) || (tdev == TIMER4) || (tdev == TIMER5) ) { prescaler = 6; overflow = 64285; minPW_correction = 370; maxPW_correction = 350; } if ( (tdev == TIMER6) || (tdev == TIMER7) ) { prescaler = 6; overflow = 65400; minPW_correction = 0; maxPW_correction = 0; } if ( (tdev == TIMER9) || (tdev == TIMER12) || (tdev == TIMER13) || (tdev == TIMER14) ) { prescaler = 6; overflow = 65400; minPW_correction = 30; maxPW_correction = 0; } if (this->attached()) { this->detach(); } this->pin = pin; this->minPW = (minPW + minPW_correction); this->maxPW = (maxPW + maxPW_correction); this->minAngle = minAngle; this->maxAngle = maxAngle; timer_pause(tdev); timer_set_prescaler(tdev, prescaler); // prescaler is 1-based timer_set_reload(tdev, overflow); timer_generate_update(tdev); timer_resume(tdev); return true; } bool Servo::detach() { if (!this->attached()) { return false; } timer_dev *tdev = PIN_MAP[this->pin].timer_device; uint8 tchan = PIN_MAP[this->pin].timer_channel; timer_set_mode(tdev, tchan, TIMER_DISABLED); this->resetFields(); return true; } void Servo::write(int degrees) { degrees = constrain(degrees, this->minAngle, this->maxAngle); this->writeMicroseconds(ANGLE_TO_US(degrees)); } int Servo::read() const { int a = US_TO_ANGLE(this->readMicroseconds()); // map() round-trips in a weird way we mostly correct for here; // the round-trip is still sometimes off-by-one for write(1) and // write(179). return a == this->minAngle || a == this->maxAngle ? a : a + 1; } void Servo::writeMicroseconds(uint16 pulseWidth) { if (!this->attached()) { ASSERT(0); return; } pulseWidth = constrain(pulseWidth, this->minPW, this->maxPW); analogWrite(this->pin, US_TO_COMPARE(pulseWidth)); } uint16 Servo::readMicroseconds() const { if (!this->attached()) { ASSERT(0); return 0; } stm32_pin_info pin_info = PIN_MAP[this->pin]; uint16 compare = timer_get_compare(pin_info.timer_device, pin_info.timer_channel); return COMPARE_TO_US(compare); } void Servo::resetFields(void) { this->pin = NOT_ATTACHED; this->minAngle = MIN_ANGLE; this->maxAngle = MAX_ANGLE; this->minPW = MIN_PULSE_WIDTH; this->maxPW = MAX_PULSE_WIDTH; } #endif ================================================ FILE: src/stm32f4/ServoTimers.h ================================================ /****************************************************************************** * The MIT License * * Copyright (c) 2010, LeafLabs, LLC. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation * files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, * modify, merge, publish, distribute, sublicense, and/or sell copies * of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. *****************************************************************************/ /* * Arduino srl - www.arduino.org * 2017 Feb 23: Edited by Francesco Alessi (alfran) - francesco@arduino.org */ #ifndef _SERVO_H_ #define _SERVO_H_ #include "types.h" #include "timer.h" #include "wiring.h" /* hack for IDE compile */ /* * Note on Arduino compatibility: * * In the Arduino implementation, PWM is done "by hand" in the sense * that timer channels are hijacked in groups and an ISR is set which * toggles Servo::attach()ed pins using digitalWrite(). * * While this scheme allows any pin to drive a servo, it chews up * cycles and complicates the programmer's notion of when a particular * timer channel will be in use. * * This implementation only allows Servo instances to attach() to pins * that already have a timer channel associated with them, and just * uses analogWrite() to drive the wave. * * This introduces an incompatibility: while the Arduino * implementation of attach() returns the affected channel on success * and 0 on failure, this one returns true on success and false on * failure. * * RC Servos expect a pulse every 20 ms. Since periods are set for * entire timers, rather than individual channels, attach()ing a Servo * to a pin can interfere with other pins associated with the same * timer. As always, your board's pin map is your friend. */ // Pin number of unattached pins #define NOT_ATTACHED (-1) #define _Nbr_16timers 14 // Number of STM32F469 Timers #define SERVOS_PER_TIMER 4 // Number of timer channels // Default min/max pulse widths (in microseconds) and angles (in // degrees). Values chosen for Arduino compatibility. These values // are part of the public API; DO NOT CHANGE THEM. #define MIN_ANGLE 0 #define MAX_ANGLE 180 #define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo #define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo /** Class for interfacing with RC servomotors. */ class Servo { public: /** * @brief Construct a new Servo instance. * * The new instance will not be attached to any pin. */ Servo(); /** * @brief Associate this instance with a servomotor whose input is * connected to pin. * * If this instance is already attached to a pin, it will be * detached before being attached to the new pin. This function * doesn't detach any interrupt attached with the pin's timer * channel. * * @param pin Pin connected to the servo pulse wave input. This * pin must be capable of PWM output. * * @param minPulseWidth Minimum pulse width to write to pin, in * microseconds. This will be associated * with a minAngle degree angle. Defaults to * SERVO_DEFAULT_MIN_PW = 544. * * @param maxPulseWidth Maximum pulse width to write to pin, in * microseconds. This will be associated * with a maxAngle degree angle. Defaults to * SERVO_DEFAULT_MAX_PW = 2400. * * @param minAngle Target angle (in degrees) associated with * minPulseWidth. Defaults to * SERVO_DEFAULT_MIN_ANGLE = 0. * * @param maxAngle Target angle (in degrees) associated with * maxPulseWidth. Defaults to * SERVO_DEFAULT_MAX_ANGLE = 180. * * @sideeffect May set pinMode(pin, PWM). * * @return true if successful, false when pin doesn't support PWM. */ bool attach(uint8 pin, uint16 minPulseWidth=MIN_PULSE_WIDTH, uint16 maxPulseWidth=MAX_PULSE_WIDTH, int16 minAngle=MIN_ANGLE, int16 maxAngle=MAX_ANGLE); /** * @brief Stop driving the servo pulse train. * * If not currently attached to a motor, this function has no effect. * * @return true if this call did anything, false otherwise. */ bool detach(); /** * @brief Set the servomotor target angle. * * @param angle Target angle, in degrees. If the target angle is * outside the range specified at attach() time, it * will be clamped to lie in that range. * * @see Servo::attach() */ void write(int angle); /** * @brief Set the pulse width, in microseconds. * * @param pulseWidth Pulse width to send to the servomotor, in * microseconds. If outside of the range * specified at attach() time, it is clamped to * lie in that range. * * @see Servo::attach() */ void writeMicroseconds(uint16 pulseWidth); /** * Get the servomotor's target angle, in degrees. This will * lie inside the range specified at attach() time. * * @see Servo::attach() */ int read() const; /** * Get the current pulse width, in microseconds. This will * lie within the range specified at attach() time. * * @see Servo::attach() */ uint16 readMicroseconds() const; /** * @brief Check if this instance is attached to a servo. * @return true if this instance is attached to a servo, false otherwise. * @see Servo::attachedPin() */ bool attached() const { return this->pin != NOT_ATTACHED; } /** * @brief Get the pin this instance is attached to. * @return Pin number if currently attached to a pin, NOT_ATTACHED * otherwise. * @see Servo::attach() */ int attachedPin() const { return this->pin; } private: int16 pin; uint16 minPW; uint16 maxPW; int16 minAngle; int16 maxAngle; void resetFields(void); }; #endif /* _SERVO_H_ */ ================================================ FILE: src/xmc/Servo.cpp ================================================ /****************************************************************************** * The MIT License * * Copyright (c) 2010, LeafLabs, LLC. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation * files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, * modify, merge, publish, distribute, sublicense, and/or sell copies * of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. *****************************************************************************/ #if defined(ARDUINO_ARCH_XMC) #include "ServoTimers.h" uint8_t _ServoCount = 1; // internal counter to check if max numbers of servos is reached static uint8_t _allowed[MAX_PWM_SERVOS] = ALLOWED_PINS; // internal array to check allowed pwm pins static uint8_t _servos[MAX_PWM_SERVOS]; // static array of used servo pins for checking /** * @brief None blocking wait loop. * * @param uS microseconds to wait */ static void _delayUs(unsigned long uS) { unsigned long time_now = micros(); while (micros() < time_now + uS) ; } Servo::Servo() { if (_ServoCount <= MAX_PWM_SERVOS ) { this->servoIndex = _ServoCount++; this->_minAngle = MIN_ANGLE; this->_maxAngle = MAX_ANGLE; this->_minPW = MIN_PULSE_WIDTH; this->_maxPW = MAX_PULSE_WIDTH; this->_pin = 0; this->_isActive = false; this->_pwm = 0; this->_deg = 0.0; }else{ this->servoIndex = INVALID_SERVO; } } uint8_t Servo::attach(uint8_t pin, uint16_t min, uint16_t max) { if (this->servoIndex <= MAX_PWM_SERVOS ) { // validate selected pin bool pin_allowed = false; for( int i = 0; i < MAX_PWM_SERVOS; i++) { // check if pin already in use if ( _servos[i] == pin) return INVALID_SERVO; // check if selected pin has a pwm unit on the used XMC board if ( _allowed[i] == pin) pin_allowed = true; } // return if pin is not found in allowed pin list if ( !pin_allowed ) return INVALID_SERVO; // Set min/max values according the input and check for absolute limits if (min < MIN_PULSE_CHECK) { this->_minAngle = constrain(min,MIN_ANGLE,MAX_ANGLE); this->_minPW = MIN_PULSE_WIDTH; } else { this->_minAngle = MIN_ANGLE; //TODO has to calculated this->_minPW = constrain(min,MIN_PULSE_WIDTH,MAX_PULSE_WIDTH); } if (max < MIN_PULSE_CHECK) { this->_maxAngle = constrain(max,MIN_ANGLE,MAX_ANGLE); this->_maxPW = 2 * MAX_PULSE_WIDTH; } else { this->_maxAngle = MAX_ANGLE; //TODO has to calculated this->_maxPW = constrain(max,MIN_PULSE_WIDTH,MAX_PULSE_WIDTH); } this->_pin = pin; this->_isActive = true; setAnalogWriteFrequency(this->_pin, REFRESH_FREQUENCY); analogWriteResolution(ADC_RESOLUTION); } return this->servoIndex; } void Servo::detach() { this->servoIndex = _ServoCount--; this->_minAngle = MIN_ANGLE; this->_maxAngle = MAX_ANGLE; this->_minPW = MIN_PULSE_WIDTH; this->_maxPW = MAX_PULSE_WIDTH; this->_pin = 0; this->_isActive = false; this->_pwm = 0; this->_deg = 0.0; } void Servo::write(int value) { if (value < MIN_PULSE_CHECK) { // angle must be inside the boundaries double angle = constrain(value, this->_minAngle, this->_maxAngle); double dutyCycle = ( 0.5 + ( angle / MAX_ANGLE ) * 2.0 ) * DUTYCYCLE_STEPS; this->_deg = angle; this->_pwm = uint16_t(dutyCycle); analogWrite(this->_pin, uint16_t(dutyCycle)); _delayUs(50); } else { writeMicroseconds(value); } } void Servo::writeMicroseconds(int value) { // value must be inside the boundaries double pw = constrain(value,this->_minPW, this->_maxPW); double dutyCycle = map(pw, MIN_PULSE_WIDTH,MAX_PULSE_WIDTH, 0.5 * DUTYCYCLE_STEPS, 2.5 * DUTYCYCLE_STEPS); this->_deg = ( dutyCycle - DUTYCYCLE_STEPS * 0.5 ) * MAX_ANGLE / ( 2 * DUTYCYCLE_STEPS ); this->_pwm = uint16_t(dutyCycle); analogWrite(this->_pin, uint16_t(dutyCycle)); _delayUs(50); } #endif ================================================ FILE: src/xmc/ServoTimers.h ================================================ /****************************************************************************** * The MIT License * * Copyright (c) 2010, LeafLabs, LLC. * * Permission is hereby granted, free of charge, to any person * obtaining a copy of this software and associated documentation * files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, * modify, merge, publish, distribute, sublicense, and/or sell copies * of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. *****************************************************************************/ /* * @copyright Copyright (c) 2019-2020 Infineon Technologies AG */ #ifndef _SERVO_H_ #define _SERVO_H_ #include #include "wiring_analog.h" /* * Note on Arduino compatibility: * * In the Arduino implementation, PWM is done "by hand" in the sense * that timer channels are hijacked in groups and an ISR is set which * toggles Servo::attach()ed pins using digitalWrite(). * * While this scheme allows any pin to drive a servo, it chews up * cycles and complicates the programmer's notion of when a particular * timer channel will be in use. * * This implementation only allows Servo instances to attach() to pins * that already have PWM unit associated with them, which drives the wave. * * While the Arduino implementation of attach() returns the affected channel, * this one returns the index number of the servo or an INVALID_SERVO = 255 in * case of an error. * The attach will check if a pin is already in use and if a pin has a PWM unit on * the selected XMC board, otherwise it returns an INVALID_SERVO. * This error handling is different than the original one from Arduino. * * Depending on the XMC type the number of possible PWM channels vary from 4 to 23 * and may change with future version of the XMC series. */ // Define the MAX_PWM_SERVOS number per XMC type and the allowed PWM pins on the selected XMC board #if defined(XMC1100_XMC2GO) #define MAX_PWM_SERVOS 4 #define ALLOWED_PINS {1, 2, 3, 8,} #elif defined(XMC1100_Boot_Kit) #define MAX_PWM_SERVOS 6 #define ALLOWED_PINS { 3,4,6,9,10,11 } #elif defined(XMC1300_Boot_Kit) #define MAX_PWM_SERVOS 4 #define ALLOWED_PINS { 26,31,32,33 } #elif defined(XMC1400_Arduino_Kit) #define MAX_PWM_SERVOS 6 #define ALLOWED_PINS { 3,4,6,9,10,11 } #elif defined(XMC4200_Platform2GO) #define MAX_PWM_SERVOS 7 #define ALLOWED_PINS { 3,5,6,9,22,23,24 } #elif defined(XMC4400_Platform2GO) #define MAX_PWM_SERVOS 15 #define ALLOWED_PINS { 3,5,6,9,10,14,25,26,27,28,29,30,45,48,67 } #elif defined(XMC4700_Relax_Kit) #define MAX_PWM_SERVOS 23 #define ALLOWED_PINS { 3,5,6,9,10,11,34,36,37,51,61,62,66,70,76,77,79,80,81,88,89,93,94 } #else #error "Not a supported XMC Board" #endif #define MIN_ANGLE 0 // the minimal angle in degree #define MAX_ANGLE 180 // the maximal angle in degree #define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo in microseconds #define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo in microseconds #define MIN_PULSE_CHECK 500 // border with below = angle and above = pulse width #define REFRESH_FREQUENCY 50u // the refresh frequency on analog pins #define REFRESH_TIME 20.0 // the PWM refresh frequency for the servo motor #define DUTYCYCLE_STEPS 65536.0 / REFRESH_TIME // the number of duty cycle steps during one refresh period #define ADC_RESOLUTION 16 // the resolution of the adc during analog write #define INVALID_SERVO 255 // flag indicating an invalid servo index /** Class for interfacing with RC servomotors. */ class Servo { public: /** * @brief Construct a new Servo instance. * * The new instance will not be attached to any pin, but only PWM capable pins will run. * see pin list above. */ Servo(); /** * @brief Associate this instance with a servomotor whose input is * connected to pin. * * If this instance is already attached to a pin, it will be * detached before being attached to the new pin. * If the pin is not allowed for running PWM or the max number of * PWM channels on the XMC board is reached it will return * with an INVALID_SERVO, otherwise with the servoIndex number. * * @param pin Pin connected to the servo pulse wave input. This * pin must be capable of PWM output. * * @param min If this value is below MIN_PULSE_CHECK it will be associated * with an angle in degree. Otherwise it will be the minimum * pulse width. * min as an angle must be between MIN_ANGLE < angle < MAX_ANGLE * with default as MIN_ANGLE * min as a pulse width must be between MIN_PULSE_WIDTH < pwm < MAX_PULSE_WIDTH * with a default as MIN_PULSE_WIDTH * * @param max If this value is below MIN_PULSE_CHECK it will be associated * with an angle in degree. Otherwise it will be the maximum * pulse width. * max as an angle must be between MIN_ANGLE < angle < MAX_ANGLE * with default as MAX_ANGLE * max as a pulse width must be between MIN_PULSE_WIDTH < pwm < MAX_PULSE_WIDTH * with a default as MAX_PULSE_WIDTH * * @return servoIndex number or INVALID_SERVO = 255 in case of an error */ uint8_t attach(uint8_t pin, uint16_t min = MIN_ANGLE, uint16_t max = MAX_ANGLE); /** * @brief Stop driving the servo pulse train. * * If not currently attached to a motor, this function has no effect. * * @return true if this call did anything, false otherwise. */ void detach(); /** * @brief Set the servomotor target angle by recalculating the duty cycle * for XMC PWM settings. * * @param value Target angle, in degrees. If the target angle is * outside the range specified at attach(), it * will be clamped to lie in that range. * * @see Servo::attach() */ void write(int value); /** * @brief Set the pulse width, in microseconds by recalculating it for the * XMC PWM settings. It also calculates the angle from the pwm value. * * @param value Pulse width to send to the servomotor, in * microseconds. If outside of the range * specified at attach() time, it is clamped to * lie in that range. * * @see Servo::attach() */ void writeMicroseconds(int value); /** * returns the current value in degree as an angle between 0 and 189 degrees * * @see Servo::attach() */ int read() const { return uint16_t(this->_deg); } /** * returns the current pwm value in microseconds. * * @see Servo::attach() */ int readMicroseconds() const { return uint16_t(this->_pwm); } /** * @brief Check if this instance is attached to a servo. * @return true if this instance is attached to a servo, false otherwise. * @see Servo::attachedPin() */ bool attached() const { return this->_isActive; } private: uint16_t _minPW; // the initial minPulseWidth, if not set than MIN_PULSE_WIDTH uint16_t _maxPW; // the initial maxPulseWidth, if not set than MAX_PULSE_WIDTH int16_t _minAngle; // the initial minAngle, if not set than MIN_ANGLE int16_t _maxAngle; // the initial maxAngle, if not set than MAX_ANGLE int16_t _pin; // attached arduino pin number double _deg; // actual angle in degree double _pwm; // actual pwm signal in microseconds uint8_t _isActive; // true if this pin is active, otherwise false uint8_t servoIndex; // the actual number of Servos attached to this library }; #endif /* _SERVO_H_ */ ================================================ FILE: src/zephyr/Servo.cpp ================================================ #if defined(ARDUINO_ARCH_ZEPHYR) #include #include #include #include #include #include typedef struct { uint8_t pin; uint32_t position_tick; uint32_t timer_index; uint32_t min; uint32_t max; } servoTimer_t; class ServoTimerHandler{ inline static uint32_t timer_servo; inline static uint32_t servo_timing_period; bool timer_is_started; inline static servoTimer_t * servos[MAX_ZEPHYR_SERVOS] = {nullptr}; uint8_t servoCount; public: ServoTimerHandler(){ timer_is_started = false; timer_servo = 0; servoCount = 0; } int initTimer(){ if (!timer_is_started){ const struct device *const counter_dev = DEVICE_DT_GET(TIMER); counter_start(counter_dev); struct counter_top_cfg top_cfg; top_cfg.ticks = counter_us_to_ticks(counter_dev, servo_timer_base_us_tick); top_cfg.callback = this->servo_timer_update; top_cfg.user_data = &top_cfg; top_cfg.flags = 0; int err = counter_set_top_value(counter_dev, &top_cfg); if (err){ return 0; } else{ timer_is_started = true; return 1; } } return -1; } static void servo_timer_update(const struct device *counter_dev, void *user_data){ for (uint8_t i = 0; i < MAX_ZEPHYR_SERVOS; i++){ if (servos[i]!=nullptr){ if (timer_servo>servos[i]->position_tick){ digitalWrite(servos[i]->pin, LOW); } else{ digitalWrite(servos[i]->pin, HIGH); } } } if (timer_servo>servo_timer_end_tick){ timer_servo = 0; } timer_servo++; } int addServo(servoTimer_t * s){ if (servoCountpin==s->pin){ return i; } } for (uint8_t i = 0; iposition_tick = value/servo_timer_base_us_tick; } } uint32_t getMin(int index){ if (servos[index]!=nullptr){ return servos[index]->min; } return MIN_PULSE_WIDTH; } uint32_t getMax(int index){ if (servos[index]!=nullptr){ return servos[index]->max; } return MAX_PULSE_WIDTH; } uint32_t readMicroseconds(int index){ if (servos[index]!=nullptr){ return servos[index]->position_tick*servo_timer_base_us_tick; } return 0; } }; static ServoTimerHandler servo_handle; Servo::Servo(){ servo_handle.initTimer(); servoIndex = 255; } 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){ pinMode(pin, OUTPUT); servoTimer_t * tmp_servo = new servoTimer_t(); tmp_servo->pin = pin; tmp_servo->min = min; tmp_servo->max = max; servoIndex = servo_handle.addServo(tmp_servo); this->min = servo_handle.getMin(servoIndex)/4; this->max = servo_handle.getMax(servoIndex)/4; return 0; } void Servo::detach(){ servo_handle.removeServo(servoIndex); servoIndex = 255; } void Servo::write(int value){ servo_handle.writeMicroseconds(servoIndex, map(value, 0, 180, servo_handle.getMin(servoIndex), servo_handle.getMax(servoIndex))); } void Servo::writeMicroseconds(int value){ servo_handle.writeMicroseconds(servoIndex, value); } int Servo::read(){ return map(servo_handle.readMicroseconds(servoIndex), servo_handle.getMin(servoIndex), servo_handle.getMax(servoIndex), 0, 180); } int Servo::readMicroseconds(){ return servo_handle.readMicroseconds(servoIndex); } bool Servo::attached(){ if (servoIndex==255){ return false; } else{ return true; } } #endif ================================================ FILE: src/zephyr/ServoTimers.h ================================================ #define MAX_ZEPHYR_SERVOS 16 #define TIMER DT_NODELABEL(counter_servo) const uint32_t servo_timer_base_us_tick = 4; const uint32_t servo_timer_end_tick = 20000/servo_timer_base_us_tick;