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Fix servo lib #105

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Merged
merged 2 commits into from Sep 14, 2017
Merged

Fix servo lib #105

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53876e6
Update Servo library to match with official Servo library
Sep 11, 2017
7f345c3
Fix pulse width error. Clean code.
Sep 12, 2017
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6 changes: 3 additions & 3 deletions libraries/Servo/library.properties
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
name=Servo
version=1.1.1
version=1.1.2
author=Michael Margolis, Arduino
maintainer=Arduino <info@arduino.cc>
sentence=Allows Arduino boards to control a variety of servo motors. For all Arduino boards.
sentence=Allows Arduino/Genuino 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.<br />
category=Device Control
url=http://www.arduino.cc/en/Reference/Servo
architectures=stm32
architectures=avr,sam,samd,nrf52,stm32f4,stm32
34 changes: 25 additions & 9 deletions libraries/Servo/Servo.h → libraries/Servo/src/Servo.h
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Expand Up @@ -59,20 +59,36 @@
*/

// Architecture specific include
#include "ServoTimers.h"
#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_STM32)
#include "stm32/ServoTimers.h"
#else
#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4 or STM32 processor."
#endif

#define Servo_VERSION 2 // software version of this library

#define MIN_PULSE_WIDTH 480 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2200 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1300 // default pulse width when servo is attached
#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 // minumim time to refresh servos in microseconds

#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
#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)

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
Expand All @@ -96,10 +112,10 @@ class Servo
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
stimer_t _timer;
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
27 changes: 14 additions & 13 deletions libraries/Servo/Servo.cpp → libraries/Servo/src/stm32/Servo.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
Copyright (c) 2015 Arduino LLC. All right reserved.
Copyright (c) 2017 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
Expand All @@ -16,20 +16,16 @@
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/

//#if defined(ARDUINO_ARCH_SAMD)
#if defined(ARDUINO_ARCH_STM32)

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

#define usToTicks(_us) (_us * 2) // converts microseconds to tick
#define ticksToUs(_ticks) (_ticks / 2) // 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
static volatile int8_t timerChannel[_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
stimer_t _timer;

// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
Expand Down Expand Up @@ -69,8 +65,8 @@ static void ServoIrqHandle(stimer_t *obj, uint32_t channel)
}
else {
// finished all channels so wait for the refresh period to expire before starting over
if( getTimerCounter(obj) + 4 < usToTicks(REFRESH_INTERVAL) ) { // allow a few ticks to ensure the next OCR1A not missed
setCCRRegister(obj, channel, (unsigned int)usToTicks(REFRESH_INTERVAL));
if( getTimerCounter(obj) + 4 < REFRESH_INTERVAL ) { // allow a few ticks to ensure the next OCR1A not missed
setCCRRegister(obj, channel, (unsigned int)REFRESH_INTERVAL);
} else {
setCCRRegister(obj, channel, getTimerCounter(obj) + 4); // at least REFRESH_INTERVAL has elapsed
}
Expand All @@ -80,6 +76,11 @@ static void ServoIrqHandle(stimer_t *obj, uint32_t channel)

static void initISR(stimer_t *obj)
{
/*
* Timer clock set by default at 1us.
* Period set to REFRESH_INTERVAL*3
* Default pulse width set to DEFAULT_PULSE_WIDTH
*/
TimerPulseInit(obj, REFRESH_INTERVAL*3, DEFAULT_PULSE_WIDTH, ServoIrqHandle);
}

Expand All @@ -104,7 +105,7 @@ 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
servos[this->servoIndex].ticks = DEFAULT_PULSE_WIDTH; // store default values
} else {
this->servoIndex = INVALID_SERVO; // too many servos
}
Expand Down Expand Up @@ -173,8 +174,6 @@ void Servo::writeMicroseconds(int value)
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;
}
}
Expand All @@ -188,7 +187,7 @@ int Servo::readMicroseconds()
{
unsigned int pulsewidth;
if (this->servoIndex != INVALID_SERVO)
pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
pulsewidth = servos[this->servoIndex].ticks;
else
pulsewidth = 0;

Expand All @@ -199,3 +198,5 @@ bool Servo::attached()
{
return servos[this->servoIndex].Pin.isActive;
}

#endif // ARDUINO_ARCH_STM32
7 changes: 4 additions & 3 deletions libraries/Servo/ServoTimers.h → libraries/Servo/src/stm32/ServoTimers.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
Copyright (c) 2015 Arduino LLC. All right reserved.
Copyright (c) 2017 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
Expand Down Expand Up @@ -27,9 +27,10 @@
#ifndef __SERVO_TIMERS_H__
#define __SERVO_TIMERS_H__

typedef enum {
// Uses one timer. Allows until 12 servos.
typedef enum {
_timer1,
_Nbr_16timers
_Nbr_16timers
} timer16_Sequence_t;

#endif // __SERVO_TIMERS_H__