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dev_beta_Servo (#3)

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Добавлена библиотека Servo
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klassents 2024-10-03 08:16:43 +03:00
parent 63217147e5
commit a7468870fc
11 changed files with 938 additions and 0 deletions
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8
cores/arduino/trap_handler.c
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@ -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);

4
cores/arduino/wiring_time.h
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@ -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
*

504
libraries/Servo/LICENSE.txt Normal file
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@ -0,0 +1,504 @@
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2
libraries/Servo/README.md Normal file
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@ -0,0 +1,2 @@
## Servo - это библиотека Servo для Амура (МК от Микрон) в ArduinoIDE

27
libraries/Servo/examples/Broom/Broom.ino Normal file
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@ -0,0 +1,27 @@
/*
"Broom" Servo
This example demonstrates the servo drive movement
with a smooth stop in both directions
*/
#include <Servo.h>
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
}
}

25
libraries/Servo/examples/Jerks/Jerks.ino Normal file
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@ -0,0 +1,25 @@
/*
"Jerks"
This example demonstrates the servo drive movement
with a sharp stop in both directions
*/
#include <Servo.h>
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
}

24
libraries/Servo/examples/Resist/Resist.ino Normal file
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@ -0,0 +1,24 @@
/*
"Resist"
This example demonstrates the servo drive movement
depending on the value on the potentiometer
*/
#include <Servo.h>
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
}

23
libraries/Servo/keywords.txt Normal file
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@ -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)
#######################################

10
libraries/Servo/library.properties Normal file
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@ -0,0 +1,10 @@
name=Servo
version=0.0.1
author=Arduino
maintainer=Ogneyar <ogneyar@hutoryanin.ru>
sentence=Allows the ELBEAR ACE-UNO board to control various servo motors.
paragraph=This library can control the servo.<br /> 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

258
libraries/Servo/src/Servo.cpp Normal file
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#include <Arduino.h>
#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;
}
// --------------------------------------------------

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#ifndef Servo_h
#define Servo_h
#include <inttypes.h>
#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