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LightweightServo.h
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/*
* LightweightServo.h
*
* Copyright (C) 2019-2024 Armin Joachimsmeyer
*
* This file is part of ServoEasing https://github.com/ArminJo/ServoEasing.
*
* ServoEasing is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program 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 General Public License for more details.
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/gpl.html>.
*
*/
#ifndef _LIGHTWEIGHT_SERVO_H
#define _LIGHTWEIGHT_SERVO_H
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined (__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__)
#define VERSION_LIGHTWEIGHT_SERVO "2.0.0"
#define VERSION_LIGHTWEIGHT_SERVO_MAJOR 2
#define VERSION_LIGHTWEIGHT_SERVO_MINOR 0
#include <stdint.h>
/*
* Activating this saves 40 bytes program space. You must then use the init functions initLightweightServoPin*() manually.
*/
//#define DISABLE_SERVO_TIMER_AUTO_INITIALIZE
//
#define ISR_COUNT_FOR_20_MILLIS (F_CPU / (8 * 50)) // 40000 For 50 Hz, 20 ms using a prescaler of 8. You can modify this if you have servos which accept a higher rate
#define ISR_COUNT_FOR_2_5_MILLIS (F_CPU / (8 * 400)) // 5000 For 400 Hz, 2.5 ms using a prescaler of 8.
#if defined(__AVR_ATmega2560__)
#define LIGHTWEIGHT_SERVO_CHANNEL_A_PIN 46
#define LIGHTWEIGHT_SERVO_CHANNEL_B_PIN 45
#define LIGHTWEIGHT_SERVO_CHANNEL_C_PIN 44
#elif defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined (__AVR_ATmega328PB__)
#define LIGHTWEIGHT_SERVO_CHANNEL_A_PIN 9
#define LIGHTWEIGHT_SERVO_CHANNEL_B_PIN 10
#endif
void initLightweightServoPins(); // currently only pin 44 = OC5C/PL5, 45 = OC5B/PL4 + 46 = OC5A/PL3 on 2560 and pin 9 = OC1A + 10 = OC1B on 328
void checkAndInitLightweightServoPin(uint8_t aPin);
void deinitLightweightServoPin(uint8_t aPin); // Set pin to input and disable non-inverting Compare Output mode
int writeLightweightServoPin(int aDegree, uint8_t aPin, bool aUpdateFast = false);
// The last parameter requires 8 byte more than DISABLE_SERVO_TIMER_AUTO_INITIALIZE, if false, but saves around 60 bytes anyway
void writeMicrosecondsLightweightServoPin(int aMicroseconds, uint8_t aPin, bool aUpdateFast = false, bool aDoAutoInit = true);
void setLightweightServoPulseMicrosFor0And180Degree(int aMicrosecondsForServo0Degree, int a180DegreeValue);
void setLightweightServoRefreshRate(unsigned int aRefreshPeriodMicroseconds);
// convenience functions
int DegreeToMicrosecondsLightweightServo(int aDegree);
int MicrosecondsToDegreeLightweightServo(int aMicroseconds);
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined (__AVR_ATmega328PB__)
#define ISR1_COUNT_FOR_20_MILLIS ISR_COUNT_FOR_20_MILLIS
#define ISR1_COUNT_FOR_2_5_MILLIS ISR_COUNT_FOR_2_5_MILLIS
/*
* Old and fast ATmega328 functions
* Uses timer1 and Pin 9 + 10 as output
*/
void initLightweightServoPin9And10() __attribute__ ((deprecated ("Renamed to initLightweightServoPins()"))); // deprecated
void initLightweightServoPin9(); // Disables Pin 10!
void initLightweightServoPin10(); // Disables Pin 9!
void initLightweightServoPin9_10(bool aUsePin9, bool aUsePin10);
void deinitLightweightServoPin9_10(bool aUsePin9, bool aUsePin10);
void write9(int aDegree, bool aUpdateFast = false); // setLightweightServoPulsePin9 Channel A
void writeMicroseconds9(int aMicroseconds, bool aUpdateFast = false);
void writeMicroseconds9Direct(int aMicroseconds);
void write10(int aDegree, bool aUpdateFast = false); // setLightweightServoPulsePin10 Channel B
void writeMicroseconds10(int aMicroseconds, bool aUpdateFast = false);
void writeMicroseconds10Direct(int aMicroseconds);
int writeLightweightServo(int aDegree, bool aUsePin9, bool aUpdateFast = false);
void writeMicrosecondsLightweightServo(int aMicroseconds, bool aUsePin9, bool aUpdateFast = false);
#endif // Old and fast ATmega328 functions
class LightweightServo {
public:
uint8_t attach(int aPin);
uint8_t attach(int aPin, int aMicrosecondsForServo0Degree, int aMicrosecondsForServo180Degree);
void detach();
void write(int aTargetDegreeOrMicrosecond);
void writeMicroseconds(int aTargetMicrosecond); // Write pulse width in microseconds
/*
* Variables to enable adjustment for different servo types
* 544 and 2400 are values compatible with standard arduino values
*/
int MicrosecondsForServo0Degree = 544;
int MicrosecondsForServo180Degree = 2400;
uint8_t LightweightServoPin;
};
#endif // defined(__AVR_ATmega328P__) || defined(__AVR_ATmega328__) || defined (__AVR_ATmega328PB__) || defined(__AVR_ATmega2560__)
/*
* Version 2.0.0 - 10/2024
* - Improved API.
* - Support for ATmega2560.
*
* Version 1.1.0 - 11/2020
* - Improved API.
*/
#endif // _LIGHTWEIGHT_SERVO_H