From a7468870fc9f1fb5bce5f6b5a75e36aa7ae5a165 Mon Sep 17 00:00:00 2001 From: klassents Date: Thu, 3 Oct 2024 08:16:43 +0300 Subject: [PATCH] dev_beta_Servo (#3) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Добавлена библиотека Servo --- cores/arduino/trap_handler.c | 8 + cores/arduino/wiring_time.h | 4 + libraries/Servo/LICENSE.txt | 504 +++++++++++++++++++++ libraries/Servo/README.md | 2 + libraries/Servo/examples/Broom/Broom.ino | 27 ++ libraries/Servo/examples/Jerks/Jerks.ino | 25 + libraries/Servo/examples/Resist/Resist.ino | 24 + libraries/Servo/keywords.txt | 23 + libraries/Servo/library.properties | 10 + libraries/Servo/src/Servo.cpp | 258 +++++++++++ libraries/Servo/src/Servo.h | 53 +++ 11 files changed, 938 insertions(+) create mode 100644 libraries/Servo/LICENSE.txt create mode 100644 libraries/Servo/README.md create mode 100644 libraries/Servo/examples/Broom/Broom.ino create mode 100644 libraries/Servo/examples/Jerks/Jerks.ino create mode 100644 libraries/Servo/examples/Resist/Resist.ino create mode 100644 libraries/Servo/keywords.txt create mode 100644 libraries/Servo/library.properties create mode 100644 libraries/Servo/src/Servo.cpp create mode 100644 libraries/Servo/src/Servo.h diff --git a/cores/arduino/trap_handler.c b/cores/arduino/trap_handler.c index 5d01229..b235cb0 100644 --- a/cores/arduino/trap_handler.c +++ b/cores/arduino/trap_handler.c @@ -8,6 +8,10 @@ void __attribute__((weak)) wire_handler_wrapper(void) { // dummy function for case when wire library is not in use } +void __attribute__((weak)) servo_handler_wrapper(void) +{ + // dummy function for case when wire library is not in use +} // ---------------------------------------------- // void trap_handler(void) @@ -16,6 +20,10 @@ void trap_handler(void) if (EPIC_CHECK_TIMER16_1()) tone_interrupt_handler(); + // servo timer interrupt + if (EPIC_CHECK_TIMER16_2()) + servo_handler_wrapper(); + // uart0 interrupt if (EPIC_CHECK_UART_0()) serial_handler_wrapper(0); diff --git a/cores/arduino/wiring_time.h b/cores/arduino/wiring_time.h index 162fbc3..fb28e01 100644 --- a/cores/arduino/wiring_time.h +++ b/cores/arduino/wiring_time.h @@ -24,6 +24,10 @@ extern "C" { #endif +#define clockCyclesPerMicrosecond() (F_CPU / 1000000L) +#define clockCyclesToMicroseconds(a) ((a) / clockCyclesPerMicrosecond()) +#define microsecondsToClockCycles(a) ((a) * clockCyclesPerMicrosecond()) + /** * \brief Initialize timer for creating delays * diff --git a/libraries/Servo/LICENSE.txt b/libraries/Servo/LICENSE.txt new file mode 100644 index 0000000..8000a6f --- /dev/null +++ b/libraries/Servo/LICENSE.txt @@ -0,0 +1,504 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 + USA + +Also add information on how to contact you by electronic and paper mail. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the library, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random + Hacker. + + , 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! diff --git a/libraries/Servo/README.md b/libraries/Servo/README.md new file mode 100644 index 0000000..78de539 --- /dev/null +++ b/libraries/Servo/README.md @@ -0,0 +1,2 @@ + +## Servo - это библиотека Servo для Амура (МК от Микрон) в ArduinoIDE diff --git a/libraries/Servo/examples/Broom/Broom.ino b/libraries/Servo/examples/Broom/Broom.ino new file mode 100644 index 0000000..511e2f9 --- /dev/null +++ b/libraries/Servo/examples/Broom/Broom.ino @@ -0,0 +1,27 @@ + +/* + "Broom" Servo + This example demonstrates the servo drive movement + with a smooth stop in both directions +*/ + +#include + +Servo servo; // create an Servo class instance to control the servo + +int pos = 0; // variable for storing servo position + +void setup() { + servo.attach(8); // connecting the servo drive to digital pin 8 (D8) +} + +void loop() { + for (pos = 0; pos <= 180; pos += 1) { // change degrees from 0 to 180 + servo.write(pos); // command to servo drive - go to position of variable "pos" + delay(15); // waiting for the servo to get there + } + for (pos = 180; pos >= 0; pos -= 1) { // change degrees from 180 to 0 + servo.write(pos); // command to servo drive - go to position of variable "pos" + delay(15); // waiting for the servo to get there + } +} diff --git a/libraries/Servo/examples/Jerks/Jerks.ino b/libraries/Servo/examples/Jerks/Jerks.ino new file mode 100644 index 0000000..3e5727d --- /dev/null +++ b/libraries/Servo/examples/Jerks/Jerks.ino @@ -0,0 +1,25 @@ + +/* + "Jerks" + This example demonstrates the servo drive movement + with a sharp stop in both directions +*/ + +#include + +Servo servo; // create an Servo class instance to control the servo + +void setup() { + servo.attach(8); // connecting the servo drive to digital pin 8 (D8) +} + +void loop() { + servo.write(0); // command to the servo drive - go to the 0 degree position (clockwise movement) + delay(1000); // wait + servo.write(90); // stop movement + delay(1000); // wait + servo.write(180); // command to the servo drive - move to the 180 degree position (counterclockwise movement) + delay(1000); // wait + servo.write(90); // stop movement + delay(1000); // wait +} diff --git a/libraries/Servo/examples/Resist/Resist.ino b/libraries/Servo/examples/Resist/Resist.ino new file mode 100644 index 0000000..2e25383 --- /dev/null +++ b/libraries/Servo/examples/Resist/Resist.ino @@ -0,0 +1,24 @@ + +/* + "Resist" + This example demonstrates the servo drive movement + depending on the value on the potentiometer +*/ + +#include + +Servo servo; // create an Servo class instance to control the servo + +int potpin = A0; // analog pin used to connect a potentiometer +int val; // variable for reading the analog output value + +void setup() { + servo.attach(8); // connecting the servo drive to digital pin 8 (D8) +} + +void loop() { + val = analogRead(potpin); // reading the potentiometer value (value from 0 to 4096) + val = map(val, 0, 4096, 0, 180); // change scale for use with servo (value from 0 to 180) + servo.write(val); // setting the servo position according to the value + delay(15); // waiting for the servo to get there +} diff --git a/libraries/Servo/keywords.txt b/libraries/Servo/keywords.txt new file mode 100644 index 0000000..8ea1871 --- /dev/null +++ b/libraries/Servo/keywords.txt @@ -0,0 +1,23 @@ +####################################### +# Syntax Coloring Map Servo +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +Servo KEYWORD1 Servo + +####################################### +# Methods and Functions (KEYWORD2) +####################################### +attach KEYWORD2 +detach KEYWORD2 +write KEYWORD2 +read KEYWORD2 +writeMicroseconds KEYWORD2 +readMicroseconds KEYWORD2 + +####################################### +# Constants (LITERAL1) +####################################### diff --git a/libraries/Servo/library.properties b/libraries/Servo/library.properties new file mode 100644 index 0000000..bf96c1c --- /dev/null +++ b/libraries/Servo/library.properties @@ -0,0 +1,10 @@ +name=Servo +version=0.0.1 +author=Arduino +maintainer=Ogneyar +sentence=Allows the ELBEAR ACE-UNO board to control various servo motors. +paragraph=This library can control the servo.
It uses a 16-bit timer: timer16_2. +category=Device Control +url=https://gitflic.ru/project/ogneyar/servo_amura +repository = https://gitflic.ru/project/ogneyar/servo_amura.git +architectures=MIK32_Amur \ No newline at end of file diff --git a/libraries/Servo/src/Servo.cpp b/libraries/Servo/src/Servo.cpp new file mode 100644 index 0000000..f00a727 --- /dev/null +++ b/libraries/Servo/src/Servo.cpp @@ -0,0 +1,258 @@ + +#include +#include "pins_arduino.h" + +#include "mik32_hal_timer16.h" +#include "mik32_hal_irq.h" + +#include "Servo.h" + + +static servo_t servos[MAX_SERVOS]; // static array of servo structures +static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval) +uint8_t servoCount = 0; // the total number of attached servos + +uint16_t Period = 0xFFFF; +uint16_t Compare = 0xFFFF; +uint8_t prescaler = TIMER16_PRESCALER_16; + +#define usToTicks(_us) ((clockCyclesPerMicrosecond() * _us) / ( (1 << prescaler) )) // converts microseconds to ticks (TIMERx_PRESCALER_16) +#define ticksToUs(_ticks) (((unsigned) _ticks * ( (1 << prescaler) )) / clockCyclesPerMicrosecond()) // converts from ticks back to microseconds + +#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays + +// 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 + +// timer handler +Timer16_HandleTypeDef htimer16; + +void Timer16_2_Init() +{ + htimer16.Instance = TIMER16_2; + htimer16.Clock.Source = TIMER16_SOURCE_INTERNAL_SYSTEM; + // prescaler depends on required frequency + htimer16.Clock.Prescaler = prescaler; + htimer16.CountMode = TIMER16_COUNTMODE_INTERNAL; + htimer16.ActiveEdge = TIMER16_ACTIVEEDGE_RISING; + htimer16.Preload = TIMER16_PRELOAD_AFTERWRITE; + htimer16.Trigger.Source = TIMER16_TRIGGER_TIM2_GPIO2_3; + // timer triggers by software + htimer16.Trigger.ActiveEdge = TIMER16_TRIGGER_ACTIVEEDGE_SOFTWARE; + htimer16.Trigger.TimeOut = TIMER16_TIMEOUT_DISABLE; + htimer16.Filter.ExternalClock = TIMER16_FILTER_NONE; + htimer16.Filter.Trigger = TIMER16_FILTER_NONE; + htimer16.Waveform.Enable = TIMER16_WAVEFORM_GENERATION_ENABLE; + htimer16.Waveform.Polarity = TIMER16_WAVEFORM_POLARITY_NONINVERTED; + htimer16.EncoderMode = TIMER16_ENCODER_DISABLE; + HAL_Timer16_Init(&htimer16); +} + + +/************ static functions common to all instances ***********************/ + +// irq handler +extern "C" void servo_handler_wrapper(void) +{ + if ((htimer16.Instance->ISR & htimer16.Instance->IER) & TIMER16_ISR_ARR_MATCH_M) + { + timer16_Sequence_t timer = _timer1; + + if( currentServoIndex[timer] < 0 ) + Compare = 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 + } + + currentServoIndex[timer]++; // increment to the next channel + if( SERVO_INDEX(timer, currentServoIndex[timer]) < servoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) { + Period = Compare + SERVO(timer, currentServoIndex[timer]).ticks; + 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 + } + else { + // finished all channels so wait for the refresh period to expire before starting over + if( ((unsigned)Compare) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed + Period = (unsigned int)usToTicks(REFRESH_INTERVAL); + else + Period = Compare + 4; // 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 + } + HAL_Timer16_Counter_Start_IT(&htimer16, Period); + } + + // reset timer interrupt flags + htimer16.Instance->ICR = 0xFFFFFFFF; +} + +// init isr +static void initISR(timer16_Sequence_t timer) +{ + if (timer == _timer1) + { + Timer16_2_Init(); + HAL_EPIC_MaskLevelSet(HAL_EPIC_TIMER16_2_MASK); + HAL_Timer16_Counter_Start_IT(&htimer16, 0xFFFF); + } +} + +// deinit isr +static void finISR(timer16_Sequence_t timer) +{ + if (timer == _timer1) + { + HAL_Timer16_Disable(&htimer16); + htimer16.Instance->IER &= ~(TIMER16_IER_ARROKIE_M | TIMER16_IER_CMPOKIE_M + | TIMER16_IER_ARRMIE_M | TIMER16_IER_CMPMIE_M); + htimer16.Instance->CR &= ~TIMER16_CR_ENABLE_M; // disable timer + HAL_EPIC_MaskLevelClear(HAL_EPIC_TIMER16_1_MASK); + } +} + +// is timer active? +static bool 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); + pinMode(servos[this->servoIndex].Pin.nbr, INPUT); // deinit pin + } +} +// -------------------------------------------------- + + +// -------------------------------------------------- +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; +} +// -------------------------------------------------- + diff --git a/libraries/Servo/src/Servo.h b/libraries/Servo/src/Servo.h new file mode 100644 index 0000000..d6da3ff --- /dev/null +++ b/libraries/Servo/src/Servo.h @@ -0,0 +1,53 @@ + +#ifndef Servo_h +#define Servo_h + +#include + +#include "mik32_hal_timer16.h" +#include "mik32_hal_irq.h" + +typedef enum { + _timer1, // timer16_2 + _Nbr_16timers +} timer16_Sequence_t; + +#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 servo in microseconds + +#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer +#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER) + +#define INVALID_SERVO 255 // flag indicating an invalid servo index + +typedef struct { + uint8_t nbr :6 ; // a pin number from 0 to 63 + uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false +} ServoPin_t ; + +typedef struct { + ServoPin_t Pin; + 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