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Diffstat (limited to 'msp430/libraries/Servo/Servo.h')
| -rw-r--r-- | msp430/libraries/Servo/Servo.h | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/msp430/libraries/Servo/Servo.h b/msp430/libraries/Servo/Servo.h new file mode 100644 index 0000000..27a6a31 --- /dev/null +++ b/msp430/libraries/Servo/Servo.h @@ -0,0 +1,83 @@ +/* + Servo.h - Interrupt driven Servo library for MSP430 + Copyright (c) 2012 Petr Baudis. All right reserved. + Modified by Peter Brier 26-6-2012: Fixed timing/IRQ problem + + Derived from: + 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 + */ + +#ifndef Servo_H +#define Servo_H + +#include <inttypes.h> + +/* + This version attempts to be compatible with the Arduino Servo library, + but supports only a single timer. So do not add too many servos. :-) + */ + +/* + Note that the Servo uses TIMER0_A, which cannot be used for other + purposes, e.g. for TimerSerial. + + XXX: Also, some pins reused by TIMER0_A may be affected by this + library, but I do not understand the datasheet enough regarding this. + Most likely, you should avoid PWM on pin 2? (And other stuff too?) + */ + +#define Servo_VERSION 2 // software version of this library + +#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo [uS] +#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo [uS] +#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached +#define REFRESH_INTERVAL 20000 // servos refresh period in microseconds + +#define MAX_SERVOS 8 + +#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; + 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 0 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 its 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 |