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/*
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
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