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add local libs and Servo lib

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.vscode/run vendored
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@ -1,7 +1,7 @@
#!/bin/bash #!/bin/bash
./bin/arduino-cli compile --fqbn arduino:avr:uno code --libraries $HOME/.arduino15/libraries/ --build-path ./build --clean ./bin/arduino-cli compile --fqbn arduino:avr:uno code --libraries ./libs --build-path ./build --clean
echo "Starting simulation..." echo "Starting simulation..."

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code/code.ino
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#include <Servo.h>
#include "DistSensor.cpp";
#define ULTRASONIC_SENSOR_PIN_TRIG 11
#define ULTRASONIC_SENSOR_PIN_ECHO 12
DistSensor dist_sensor = DistSensor(ULTRASONIC_SENSOR_PIN_TRIG, ULTRASONIC_SENSOR_PIN_ECHO, 25.0);
void setup() { void setup() {
Serial.begin(115200);
dist_sensor.configure_pins();
} }
void loop() { void loop() {
if (dist_sensor.is_in_range()) {
}
} }

2
diagram.json
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@ -5,7 +5,7 @@
"parts": [ "parts": [
{ "type": "wokwi-breadboard", "id": "bb1", "top": 72.2, "left": -524, "attrs": {} }, { "type": "wokwi-breadboard", "id": "bb1", "top": 72.2, "left": -524, "attrs": {} },
{ "type": "wokwi-arduino-uno", "id": "uno", "top": -201, "left": -691.8, "attrs": {} }, { "type": "wokwi-arduino-uno", "id": "uno", "top": -201, "left": -691.8, "attrs": {} },
{ "type": "wokwi-servo", "id": "servo1", "top": -174.8, "left": -355.2, "attrs": {} }, { "type": "wokwi-servo", "id": "servo1", "top": -174.8, "left": -355.2, "attrs": {"hornColor": "#FFFF00"} },
{ "type": "wokwi-hc-sr04", "id": "ultrasonic1", "top": -56.1, "left": -378.5, "attrs": {} }, { "type": "wokwi-hc-sr04", "id": "ultrasonic1", "top": -56.1, "left": -378.5, "attrs": {} },
{ "type": "board-ds18b20", "id": "temp1", "top": 171.67, "left": 32.88, "attrs": {} }, { "type": "board-ds18b20", "id": "temp1", "top": 171.67, "left": 32.88, "attrs": {} },
{ "type": "wokwi-ky-040", "id": "encoder1", "top": 164.9, "left": -711.2, "attrs": {} }, { "type": "wokwi-ky-040", "id": "encoder1", "top": 164.9, "left": -711.2, "attrs": {} },

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libs/Servo-1.2.2/LICENSE.txt Normal file
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That's all there is to it!

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: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/

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# 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.h>
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.h>
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.h>
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 angle of the servo (the value passed to the last call to [write()](#write)).
#### Syntax
````
servo.read()
````
#### Parameters
* _servo_: a variable of type `Servo`
#### Returns
The angle of the servo, 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)

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# 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 <Servo.h>
```
## 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

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/*
Controlling a servo position using a potentiometer (variable resistor)
by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
modified on 8 Nov 2013
by Scott Fitzgerald
http://www.arduino.cc/en/Tutorial/Knob
*/
#include <Servo.h>
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
}

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# 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

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/* Sweep
by BARRAGAN <http://barraganstudio.com>
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.h>
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
}
}

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# 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

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#######################################
# 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)
#######################################

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name=Servo
version=1.2.2
author=Michael Margolis, Arduino
maintainer=Arduino <info@arduino.cc>
sentence=Allows Arduino boards to control a variety of servo motors.
paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />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

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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
*/
/*
A servo is activated by creating an instance of the Servo class passing
the desired pin to the attach() method.
The servos are pulsed in the background using the value most recently
written using the write() method.
Note that analogWrite of PWM on pins associated with the timer are
disabled when the first servo is attached.
Timers are seized as needed in groups of 12 servos - 24 servos use two
timers, 48 servos will use four.
The sequence used to seize timers is defined in timers.h
The methods are:
Servo - Class for manipulating servo motors connected to Arduino pins.
attach(pin ) - Attaches a servo motor to an I/O pin.
attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
default min is 544, max is 2400
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
writeMicroseconds() - Sets the servo pulse width in microseconds
read() - Gets the last written servo pulse width as an angle between 0 and 180.
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
attached() - Returns true if there is a servo attached.
detach() - Stops an attached servos from pulsing its I/O pin.
*/
#ifndef Servo_h
#define Servo_h
#include <inttypes.h>
/*
* Defines for 16 bit timers used with Servo library
*
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
* _Nbr_16timers indicates how many 16 bit timers are available.
*/
// Architecture specific include
#if defined(ARDUINO_ARCH_AVR)
#include "avr/ServoTimers.h"
#elif defined(ARDUINO_ARCH_SAM)
#include "sam/ServoTimers.h"
#elif defined(ARDUINO_ARCH_SAMD)
#include "samd/ServoTimers.h"
#elif defined(ARDUINO_ARCH_STM32F4)
#include "stm32f4/ServoTimers.h"
#elif defined(ARDUINO_ARCH_NRF52)
#include "nrf52/ServoTimers.h"
#elif defined(ARDUINO_ARCH_MEGAAVR)
#include "megaavr/ServoTimers.h"
#elif defined(ARDUINO_ARCH_MBED)
#include "mbed/ServoTimers.h"
#elif defined(ARDUINO_ARCH_RENESAS)
#include "renesas/ServoTimers.h"
#elif defined(ARDUINO_ARCH_XMC)
#include "xmc/ServoTimers.h"
#else
#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4, Renesas or XMC processor."
#endif
#define Servo_VERSION 2 // software version of this library
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
#define INVALID_SERVO 255 // flag indicating an invalid servo index
#if !defined(ARDUINO_ARCH_STM32F4) && !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

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/*
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 <avr/interrupt.h>
#include <Arduino.h>
#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

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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
*/
/*
* 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

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#if defined(ARDUINO_ARCH_MBED)
#include <Arduino.h>
#include <Servo.h>
#include <mbed.h>
#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

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#define _Nbr_16timers 32

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#if defined(ARDUINO_ARCH_MEGAAVR)
#include <Arduino.h>
#include <Servo.h>
#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

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/*
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 <avr/io.h>
//#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__ */

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/*
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 <Arduino.h>
#include <Servo.h>
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

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/*
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__

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/* 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; i<SERVO_MAX_SERVOS; i++) {
servo = &ra_servos[i];
if (servo->period_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)

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#define _Nbr_16timers 1

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/*
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 <Arduino.h>
#include <Servo.h>
#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

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/*
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 ;

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/*
Copyright (c) 2015 Arduino LLC. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#if defined(ARDUINO_ARCH_SAMD)
#include <Arduino.h>
#include <Servo.h>
#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / 16) // converts microseconds to 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

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/*
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__

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/******************************************************************************
* 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

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/******************************************************************************
* 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_ */

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/******************************************************************************
* 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

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/******************************************************************************
* 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 <Arduino.h>
#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_ */