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‎CHANGES.txt‎

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--------------------
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PRDC_ServoHT
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STM32 Servo Library using HardwareTimer from Arduino_Core_STM32
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--------------------
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Release 1.0.0, 27.02.2021.
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- Initial release
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--------------------

‎LICENSE‎

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GNU LESSER GENERAL PUBLIC LICENSE
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Version 3, 29 June 2007
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Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
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Everyone is permitted to copy and distribute verbatim copies
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of this license document, but changing it is not allowed.
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This version of the GNU Lesser General Public License incorporates
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the terms and conditions of version 3 of the GNU General Public
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License, supplemented by the additional permissions listed below.
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0. Additional Definitions.
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As used herein, "this License" refers to version 3 of the GNU Lesser
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General Public License, and the "GNU GPL" refers to version 3 of the GNU
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General Public License.
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other than an Application or a Combined Work as defined below.
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An "Application" is any work that makes use of an interface provided
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A "Combined Work" is a work produced by combining or linking an
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You may convey a covered work under sections 3 and 4 of this License
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If you modify a copy of the Library, and, in your modifications, a
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choice, if you do both of the following:
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a) Accompany the combined library with a copy of the same work based
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on the Library, uncombined with any other library facilities,
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conveyed under the terms of this License.
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b) Give prominent notice with the combined library that part of it
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is a work based on the Library, and explaining where to find the
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6. Revised Versions of the GNU Lesser General Public License.
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differ in detail to address new problems or concerns.
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Each version is given a distinguishing version number. If the
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conditions either of that published version or of any later version
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published by the Free Software Foundation. If the Library as you
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received it does not specify a version number of the GNU Lesser
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General Public License, you may choose any version of the GNU Lesser
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General Public License ever published by the Free Software Foundation.
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If the Library as you received it specifies that a proxy can decide
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Library.

‎PRDC_ServoHT.cpp‎

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/**
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* PRDC_ServoHT.cpp - Servo HardwareTimer based library
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* Author: Milos Petrasinovic <[email protected]>
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* PR-DC, Republic of Serbia
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* [email protected]
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*
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* --------------------
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* Copyright (C) 2021 PR-DC <[email protected]>
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*
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* This file is part of PRDC_ServoHT.
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*
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* PRDC_ServoHT is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as
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* published by the Free Software Foundation, either version 3 of the
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* License, or (at your option) any later version.
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*
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* PRDC_ServoHT is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with PRDC_ServoHT. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "PRDC_ServoHT.h"
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static servo_t servos[MAX_SERVOS]; // static array of servo structures
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uint8_t ServoCount = 0; // the total number of attached servos
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uint16_t maxValue = 65535;
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#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
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#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
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// ServoHT()
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// Object constructor
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// --------------------
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ServoHT::ServoHT(){
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if (ServoCount < MAX_SERVOS) {
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this->servoIndex = ServoCount++; // assign a servo index to this instance
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servos[this->servoIndex].ticks = DEFAULT_PULSE_WIDTH; // store default values
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} else {
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this->servoIndex = INVALID_SERVO; // too many servos
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}
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}
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// attach()
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// Attach servo object to pin
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// --------------------
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uint8_t ServoHT::attach(int pin){
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return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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}
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uint8_t ServoHT::attach(){
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if(servos[this->servoIndex].Pin.prevAttached) {
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return this->attach(servos[this->servoIndex].Pin.nbr, this->min, this->max);
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} else {
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return false;
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}
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}
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uint8_t ServoHT::attach(int pin, int min, int max){
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if (this->servoIndex < MAX_SERVOS && !servos[this->servoIndex].Pin.prevAttached) {
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servos[this->servoIndex].Pin.nbr = pin;
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servos[this->servoIndex].ticks = DEFAULT_PULSE_WIDTH;
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TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(digitalPinToPinName(pin), PinMap_PWM);
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uint32_t channel = STM_PIN_CHANNEL(pinmap_function(digitalPinToPinName(pin), PinMap_PWM));
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HardwareTimer *SERVO_TIMER = new HardwareTimer(Instance);
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servos[this->servoIndex].TIM = SERVO_TIMER;
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servos[this->servoIndex].channel = channel;
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// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
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this->max = (MAX_PULSE_WIDTH - max) / 4;
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servos[this->servoIndex].TIM->setMode(servos[this->servoIndex].channel, TIMER_OUTPUT_COMPARE_PWM1, servos[this->servoIndex].Pin.nbr);
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servos[this->servoIndex].TIM->setOverflow(REFRESH_INTERVAL, MICROSEC_FORMAT);
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writeMicroseconds(DEFAULT_PULSE_WIDTH);
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servos[this->servoIndex].TIM->resume();
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servos[this->servoIndex].Pin.isActive = true;
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servos[this->servoIndex].Pin.prevAttached = true;
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} else {
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servos[this->servoIndex].TIM->resumeChannel(servos[this->servoIndex].channel);
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servos[this->servoIndex].Pin.isActive = true;
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}
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return this->servoIndex;
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}
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// detach()
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// Detach servo object from pin
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// --------------------
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void ServoHT::detach(){
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if(servos[this->servoIndex].Pin.prevAttached) {
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servos[this->servoIndex].TIM->pauseChannel(servos[this->servoIndex].channel);
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servos[this->servoIndex].Pin.isActive = false;
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}
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}
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// write()
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// Write angle in degrees to servo
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// --------------------
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void ServoHT::write(int value){
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// treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
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if (value < MIN_PULSE_WIDTH) {
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if (value < 0) {
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value = 0;
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} else if (value > 180) {
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value = 180;
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}
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value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX());
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}
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writeMicroseconds(value);
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}
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// writeMicroseconds()
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// Write angle in microseconds to servo
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// --------------------
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void ServoHT::writeMicroseconds(int value){
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// calculate and store the values for the given channel
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uint8_t index = this->servoIndex;
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if ((index < MAX_SERVOS)) { // ensure channel is valid
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if (value < SERVO_MIN()) { // ensure pulse width is valid
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value = SERVO_MIN();
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} else if (value > SERVO_MAX()) {
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value = SERVO_MAX();
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}
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servos[index].ticks = value;
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uint32_t compare_value = (float)maxValue/REFRESH_INTERVAL*value;
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servos[this->servoIndex].TIM->setCaptureCompare(servos[this->servoIndex].channel, compare_value, RESOLUTION_16B_COMPARE_FORMAT);
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}
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}
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// read()
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// Read angle in degrees from servo
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// --------------------
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int ServoHT::read(){ // return the value as degrees
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return map(readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180);
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}
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// readMicroseconds()
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// Read angle in microseconds from servo
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// --------------------
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int ServoHT::readMicroseconds(){
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unsigned int pulsewidth;
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if (this->servoIndex != INVALID_SERVO) {
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pulsewidth = servos[this->servoIndex].ticks;
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} else {
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pulsewidth = 0;
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}
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return pulsewidth;
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}
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// attached()
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// Check if servo is attached
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// --------------------
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bool ServoHT::attached(){
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return servos[this->servoIndex].Pin.isActive;
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}

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