ErikZalm
12 years ago
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64360164ad
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/*
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Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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Copyright (c) 2009 Michael Margolis. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
|
||||
License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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||||
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||||
This library is distributed in the hope that it will be useful,
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||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||
Lesser General Public License for more details.
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||||
|
||||
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
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*/
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/*
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A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
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The servos are pulsed in the background using the value most recently written using the write() method
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Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
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Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
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The methods are:
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Servo - Class for manipulating servo motors connected to Arduino pins.
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attach(pin ) - Attaches a servo motor to an i/o pin.
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attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
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default min is 544, max is 2400
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write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
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writeMicroseconds() - Sets the servo pulse width in microseconds
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read() - Gets the last written servo pulse width as an angle between 0 and 180.
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readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
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attached() - Returns true if there is a servo attached.
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detach() - Stops an attached servos from pulsing its i/o pin.
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*/
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#include <avr/interrupt.h>
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#include <Arduino.h>
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#include "Servo.h"
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#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
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#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
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#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
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//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
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static servo_t servos[MAX_SERVOS]; // static array of servo structures
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static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
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uint8_t ServoCount = 0; // the total number of attached servos
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// convenience macros
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#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
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#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
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#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
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#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
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#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
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/************ static functions common to all instances ***********************/
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static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
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{
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if( Channel[timer] < 0 )
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*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
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else{
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if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
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}
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Channel[timer]++; // increment to the next channel
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if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
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*OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
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if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated
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digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
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}
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else {
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// finished all channels so wait for the refresh period to expire before starting over
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if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed
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*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
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else
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*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
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Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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}
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}
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#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
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// Interrupt handlers for Arduino
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#if defined(_useTimer1)
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SIGNAL (TIMER1_COMPA_vect)
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{
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handle_interrupts(_timer1, &TCNT1, &OCR1A);
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}
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#endif
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#if defined(_useTimer3)
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SIGNAL (TIMER3_COMPA_vect)
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{
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handle_interrupts(_timer3, &TCNT3, &OCR3A);
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}
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#endif
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#if defined(_useTimer4)
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SIGNAL (TIMER4_COMPA_vect)
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{
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handle_interrupts(_timer4, &TCNT4, &OCR4A);
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}
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#endif
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#if defined(_useTimer5)
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SIGNAL (TIMER5_COMPA_vect)
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{
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handle_interrupts(_timer5, &TCNT5, &OCR5A);
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}
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#endif
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#elif defined WIRING
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// Interrupt handlers for Wiring
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#if defined(_useTimer1)
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void Timer1Service()
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{
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handle_interrupts(_timer1, &TCNT1, &OCR1A);
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}
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#endif
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#if defined(_useTimer3)
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void Timer3Service()
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{
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handle_interrupts(_timer3, &TCNT3, &OCR3A);
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}
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#endif
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#endif
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static void initISR(timer16_Sequence_t timer)
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{
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#if defined (_useTimer1)
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if(timer == _timer1) {
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TCCR1A = 0; // normal counting mode
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TCCR1B = _BV(CS11); // set prescaler of 8
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TCNT1 = 0; // clear the timer count
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#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
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TIFR |= _BV(OCF1A); // clear any pending interrupts;
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TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt
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#else
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// here if not ATmega8 or ATmega128
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TIFR1 |= _BV(OCF1A); // clear any pending interrupts;
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TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt
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#endif
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#if defined(WIRING)
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timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
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#endif
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}
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#endif
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#if defined (_useTimer3)
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if(timer == _timer3) {
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TCCR3A = 0; // normal counting mode
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TCCR3B = _BV(CS31); // set prescaler of 8
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TCNT3 = 0; // clear the timer count
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#if defined(__AVR_ATmega128__)
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TIFR |= _BV(OCF3A); // clear any pending interrupts;
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ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
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#else
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TIFR3 = _BV(OCF3A); // clear any pending interrupts;
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TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
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#endif
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#if defined(WIRING)
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timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
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#endif
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}
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#endif
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#if defined (_useTimer4)
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if(timer == _timer4) {
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TCCR4A = 0; // normal counting mode
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TCCR4B = _BV(CS41); // set prescaler of 8
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TCNT4 = 0; // clear the timer count
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TIFR4 = _BV(OCF4A); // clear any pending interrupts;
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TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt
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}
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#endif
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#if defined (_useTimer5)
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if(timer == _timer5) {
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TCCR5A = 0; // normal counting mode
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TCCR5B = _BV(CS51); // set prescaler of 8
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TCNT5 = 0; // clear the timer count
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TIFR5 = _BV(OCF5A); // clear any pending interrupts;
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TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt
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}
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#endif
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}
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static void finISR(timer16_Sequence_t timer)
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{
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//disable use of the given timer
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#if defined WIRING // Wiring
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if(timer == _timer1) {
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#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
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TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
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#else
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TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt
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#endif
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timerDetach(TIMER1OUTCOMPAREA_INT);
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}
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else if(timer == _timer3) {
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#if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
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TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
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#else
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ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt
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#endif
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timerDetach(TIMER3OUTCOMPAREA_INT);
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}
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#else
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//For arduino - in future: call here to a currently undefined function to reset the timer
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#endif
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}
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static boolean isTimerActive(timer16_Sequence_t timer)
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{
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// returns true if any servo is active on this timer
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for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
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if(SERVO(timer,channel).Pin.isActive == true)
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return true;
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}
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return false;
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}
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/****************** end of static functions ******************************/
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Servo::Servo()
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{
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if( ServoCount < MAX_SERVOS) {
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this->servoIndex = ServoCount++; // assign a servo index to this instance
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servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
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}
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else
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this->servoIndex = INVALID_SERVO ; // too many servos
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}
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uint8_t Servo::attach(int pin)
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{
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return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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}
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uint8_t Servo::attach(int pin, int min, int max)
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{
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if(this->servoIndex < MAX_SERVOS ) {
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pinMode( pin, OUTPUT) ; // set servo pin to output
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servos[this->servoIndex].Pin.nbr = pin;
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// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
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this->max = (MAX_PULSE_WIDTH - max)/4;
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// initialize the timer if it has not already been initialized
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timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
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if(isTimerActive(timer) == false)
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initISR(timer);
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servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
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}
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return this->servoIndex ;
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}
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void Servo::detach()
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{
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servos[this->servoIndex].Pin.isActive = false;
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timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
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if(isTimerActive(timer) == false) {
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finISR(timer);
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}
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}
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void Servo::write(int value)
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{
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if(value < MIN_PULSE_WIDTH)
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{ // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
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if(value < 0) value = 0;
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if(value > 180) value = 180;
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value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
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}
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this->writeMicroseconds(value);
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}
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void Servo::writeMicroseconds(int value)
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{
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// calculate and store the values for the given channel
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byte channel = this->servoIndex;
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if( (channel < MAX_SERVOS) ) // ensure channel is valid
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{
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if( value < SERVO_MIN() ) // ensure pulse width is valid
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value = SERVO_MIN();
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else if( value > SERVO_MAX() )
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value = SERVO_MAX();
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value = value - TRIM_DURATION;
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value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
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uint8_t oldSREG = SREG;
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cli();
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servos[channel].ticks = value;
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SREG = oldSREG;
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}
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}
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int Servo::read() // return the value as degrees
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{
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return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
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}
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int Servo::readMicroseconds()
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{
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unsigned int pulsewidth;
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if( this->servoIndex != INVALID_SERVO )
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pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009
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else
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pulsewidth = 0;
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return pulsewidth;
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}
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bool Servo::attached()
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{
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return servos[this->servoIndex].Pin.isActive ;
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}
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@ -0,0 +1,132 @@
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/*
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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
|
||||
*/
|
||||
|
||||
/*
|
||||
|
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A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
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The servos are pulsed in the background using the value most recently written using the write() method
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Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
|
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Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
|
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The sequence used to sieze timers is defined in timers.h
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The methods are:
|
||||
|
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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
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||||
|
||||
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
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read() - Gets the last written servo pulse width as an angle between 0 and 180.
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readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
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attached() - Returns true if there is a servo attached.
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detach() - Stops an attached servos from pulsing its i/o pin.
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||||
*/
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#ifndef Servo_h
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#define Servo_h
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#include <inttypes.h>
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/*
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* Defines for 16 bit timers used with Servo library
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*
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* If _useTimerX is defined then TimerX is a 16 bit timer on the curent board
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* timer16_Sequence_t enumerates the sequence that the timers should be allocated
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* _Nbr_16timers indicates how many 16 bit timers are available.
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*
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||||
*/
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// Say which 16 bit timers can be used and in what order
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||||
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define _useTimer5
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//#define _useTimer1
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#define _useTimer3
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#define _useTimer4
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//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
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typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
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#elif defined(__AVR_ATmega32U4__)
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//#define _useTimer1
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#define _useTimer3
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||||
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
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||||
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
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||||
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||||
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
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||||
#define _useTimer3
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||||
//#define _useTimer1
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||||
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
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||||
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
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||||
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||||
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
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||||
#define _useTimer3
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||||
//#define _useTimer1
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||||
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
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||||
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
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||||
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||||
#else // everything else
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||||
//#define _useTimer1
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||||
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
|
||||
typedef enum { _Nbr_16timers } timer16_Sequence_t ;
|
||||
#endif
|
||||
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||||
#define Servo_VERSION 2 // software version of this library
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||||
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||||
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
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||||
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
|
||||
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
|
||||
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
|
||||
|
||||
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
|
||||
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
|
||||
|
||||
#define INVALID_SERVO 255 // flag indicating an invalid servo index
|
||||
|
||||
typedef struct {
|
||||
uint8_t nbr :6 ; // a pin number from 0 to 63
|
||||
uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false
|
||||
} ServoPin_t ;
|
||||
|
||||
typedef struct {
|
||||
ServoPin_t Pin;
|
||||
unsigned int ticks;
|
||||
} servo_t;
|
||||
|
||||
class Servo
|
||||
{
|
||||
public:
|
||||
Servo();
|
||||
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
|
||||
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
|
||||
void detach();
|
||||
void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds
|
||||
void writeMicroseconds(int value); // Write pulse width in microseconds
|
||||
int read(); // returns current pulse width as an angle between 0 and 180 degrees
|
||||
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
|
||||
bool attached(); // return true if this servo is attached, otherwise false
|
||||
private:
|
||||
uint8_t servoIndex; // index into the channel data for this servo
|
||||
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
|
||||
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
|
||||
};
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue