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Copyright (c) 2016 Arduino. 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
*/
#if defined(ARDUINO_ARCH_NRF52)
#include <Arduino.h>
#include <Servo.h>
static servo_t servos[MAX_SERVOS]; // static array of servo structures
uint8_t ServoCount = 0; // the total number of attached servos
uint32_t group_pins[3][NRF_PWM_CHANNEL_COUNT]={{NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}, {NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}, {NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}};
static uint16_t seq_values[3][NRF_PWM_CHANNEL_COUNT]={{0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
Servo::Servo()
{
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
} else {
this->servoIndex = INVALID_SERVO; // too many servos
}
}
uint8_t Servo::attach(int pin)
{
return this->attach(pin, 0, 2500);
}
uint8_t Servo::attach(int pin, int min, int max)
{
int servo_min, servo_max;
if (this->servoIndex < MAX_SERVOS) {
pinMode(pin, OUTPUT); // set servo pin to output
servos[this->servoIndex].Pin.nbr = pin;
if(min < servo_min) min = servo_min;
if (max > servo_max) max = servo_max;
this->min = min;
this->max = max;
servos[this->servoIndex].Pin.isActive = true;
}
return this->servoIndex;
}
void Servo::detach()
{
servos[this->servoIndex].Pin.isActive = false;
}
void Servo::write(int value)
{
if (value < 0)
value = 0;
else if (value > 180)
value = 180;
value = map(value, 0, 180, MIN_PULSE, MAX_PULSE);
writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value)
{
uint8_t channel, instance;
uint8_t pin = servos[this->servoIndex].Pin.nbr;
//instance of PWM module is MSB - look at VWariant.h
instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16;
//index of PWM channel is LSB - look at VWariant.h
channel=g_APinDescription[pin].ulPWMChannel & 0x0F;
group_pins[instance][channel]=g_APinDescription[pin].ulPin;
NRF_PWM_Type * PWMInstance = instance == 0 ? NRF_PWM0 : (instance == 1 ? NRF_PWM1 : NRF_PWM2);
//configure PWM instance and enable it
seq_values[instance][channel]= value | 0x8000;
nrf_pwm_sequence_t const seq={
seq_values[instance],
NRF_PWM_VALUES_LENGTH(seq_values),
0,
0
};
nrf_pwm_pins_set(PWMInstance, group_pins[instance]);
nrf_pwm_enable(PWMInstance);
nrf_pwm_configure(PWMInstance, NRF_PWM_CLK_125kHz, NRF_PWM_MODE_UP, 2500); // 20ms - 50Hz
nrf_pwm_decoder_set(PWMInstance, NRF_PWM_LOAD_INDIVIDUAL, NRF_PWM_STEP_AUTO);
nrf_pwm_sequence_set(PWMInstance, 0, &seq);
nrf_pwm_loop_set(PWMInstance, 0UL);
nrf_pwm_task_trigger(PWMInstance, NRF_PWM_TASK_SEQSTART0);
}
int Servo::read() // return the value as degrees
{
return map(readMicroseconds(), MIN_PULSE, MAX_PULSE, 0, 180);
}
int Servo::readMicroseconds()
{
uint8_t channel, instance;
uint8_t pin=servos[this->servoIndex].Pin.nbr;
instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16;
channel=g_APinDescription[pin].ulPWMChannel & 0x0F;
// remove the 16th bit we added before
return seq_values[instance][channel] & 0x7FFF;
}
bool Servo::attached()
{
return servos[this->servoIndex].Pin.isActive;
}
#endif // ARDUINO_ARCH_NRF52
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