Datasets:

Beifengdo
/

Arduino-Development

/******************************************************************************
 * The MIT License
 *
 * Copyright (c) 2010, LeafLabs, LLC.
 *
 * Permission is hereby granted, free of charge, to any person
 * obtaining a copy of this software and associated documentation
 * files (the "Software"), to deal in the Software without
 * restriction, including without limitation the rights to use, copy,
 * modify, merge, publish, distribute, sublicense, and/or sell copies
 * of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
 * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
 * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *****************************************************************************/

 /*
 * Arduino srl - www.arduino.org
 * 2017 Feb 23: Edited by Francesco Alessi (alfran) - francesco@arduino.org
 */
#ifndef _SERVO_H_
#define _SERVO_H_

#include "types.h"
#include "timer.h"

#include "wiring.h"             /* hack for IDE compile */

/*
 * Note on Arduino compatibility:
 *
 * In the Arduino implementation, PWM is done "by hand" in the sense
 * that timer channels are hijacked in groups and an ISR is set which
 * toggles Servo::attach()ed pins using digitalWrite().
 *
 * While this scheme allows any pin to drive a servo, it chews up
 * cycles and complicates the programmer's notion of when a particular
 * timer channel will be in use.
 *
 * This implementation only allows Servo instances to attach() to pins
 * that already have a timer channel associated with them, and just
 * uses pwmWrite() to drive the wave.
 *
 * This introduces an incompatibility: while the Arduino
 * implementation of attach() returns the affected channel on success
 * and 0 on failure, this one returns true on success and false on
 * failure.
 *
 * RC Servos expect a pulse every 20 ms.  Since periods are set for
 * entire timers, rather than individual channels, attach()ing a Servo
 * to a pin can interfere with other pins associated with the same
 * timer.  As always, your board's pin map is your friend.
 */

// Pin number of unattached pins
#define NOT_ATTACHED                    (-1)

#define _Nbr_16timers 14 // Number of STM32F469 Timers
#define SERVOS_PER_TIMER 4 // Number of timer channels


// Default min/max pulse widths (in microseconds) and angles (in
// degrees).  Values chosen for Arduino compatibility.  These values
// are part of the public API; DO NOT CHANGE THEM.
#define MIN_ANGLE               0
#define MAX_ANGLE             180

#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo

/** Class for interfacing with RC servomotors. */
class Servo {
public:
    /**
     * @brief Construct a new Servo instance.
     *
     * The new instance will not be attached to any pin.
     */
    Servo();

    /**
     * @brief Associate this instance with a servomotor whose input is
     *        connected to pin.
     *
     * If this instance is already attached to a pin, it will be
     * detached before being attached to the new pin. This function
     * doesn't detach any interrupt attached with the pin's timer
     * channel.
     *
     * @param pin Pin connected to the servo pulse wave input. This
     *            pin must be capable of PWM output.
     *
     * @param minPulseWidth Minimum pulse width to write to pin, in
     *                      microseconds.  This will be associated
     *                      with a minAngle degree angle.  Defaults to
     *                      SERVO_DEFAULT_MIN_PW = 544.
     *
     * @param maxPulseWidth Maximum pulse width to write to pin, in
     *                      microseconds.  This will be associated
     *                      with a maxAngle degree angle. Defaults to
     *                      SERVO_DEFAULT_MAX_PW = 2400.
     *
     * @param minAngle Target angle (in degrees) associated with
     *                 minPulseWidth.  Defaults to
     *                 SERVO_DEFAULT_MIN_ANGLE = 0.
     *
     * @param maxAngle Target angle (in degrees) associated with
     *                 maxPulseWidth.  Defaults to
     *                 SERVO_DEFAULT_MAX_ANGLE = 180.
     *
     * @sideeffect May set pinMode(pin, PWM).
     *
     * @return true if successful, false when pin doesn't support PWM.
     */

    bool attach(uint8 pin,
                uint16 minPulseWidth=MIN_PULSE_WIDTH,
                uint16 maxPulseWidth=MAX_PULSE_WIDTH,
                int16 minAngle=MIN_ANGLE,
                int16 maxAngle=MAX_ANGLE);
    /**
     * @brief Stop driving the servo pulse train.
     *
     * If not currently attached to a motor, this function has no effect.
     *
     * @return true if this call did anything, false otherwise.
     */
    bool detach();

    /**
     * @brief Set the servomotor target angle.
     *
     * @param angle Target angle, in degrees.  If the target angle is
     *              outside the range specified at attach() time, it
     *              will be clamped to lie in that range.
     *
     * @see Servo::attach()
     */
    void write(int angle);

    /**
     * @brief Set the pulse width, in microseconds.
     *
     * @param pulseWidth Pulse width to send to the servomotor, in
     *                   microseconds. If outside of the range
     *                   specified at attach() time, it is clamped to
     *                   lie in that range.
     *
     * @see Servo::attach()
     */
    void writeMicroseconds(uint16 pulseWidth);

    /**
     * Get the servomotor's target angle, in degrees.  This will
     * lie inside the range specified at attach() time.
     *
     * @see Servo::attach()
     */
    int read() const;

    /**
     * Get the current pulse width, in microseconds.  This will
     * lie within the range specified at attach() time.
     *
     * @see Servo::attach()
     */
    uint16 readMicroseconds() const;


    /**
     * @brief Check if this instance is attached to a servo.
     * @return true if this instance is attached to a servo, false otherwise.
     * @see Servo::attachedPin()
     */
    bool attached() const { return this->pin != NOT_ATTACHED; }

    /**
     * @brief Get the pin this instance is attached to.
     * @return Pin number if currently attached to a pin, NOT_ATTACHED
     *         otherwise.
     * @see Servo::attach()
     */
    int attachedPin() const { return this->pin; }

private:
    int16 pin;
    uint16 minPW;
    uint16 maxPW;
    int16 minAngle;
    int16 maxAngle;

    void resetFields(void);
};



#endif  /* _SERVO_H_ */

	/******************************************************************************
	* The MIT License
	*
	* Copyright (c) 2010, LeafLabs, LLC.
	*
	* Permission is hereby granted, free of charge, to any person
	* obtaining a copy of this software and associated documentation
	* files (the "Software"), to deal in the Software without
	* restriction, including without limitation the rights to use, copy,
	* modify, merge, publish, distribute, sublicense, and/or sell copies
	* of the Software, and to permit persons to whom the Software is
	* furnished to do so, subject to the following conditions:
	*
	* The above copyright notice and this permission notice shall be
	* included in all copies or substantial portions of the Software.
	*
	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
	* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
	* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
	* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
	* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
	* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
	* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
	* SOFTWARE.
	*****************************************************************************/

	/*
	* Arduino srl - www.arduino.org
	* 2017 Feb 23: Edited by Francesco Alessi (alfran) - francesco@arduino.org
	*/
	#ifndef _SERVO_H_
	#define _SERVO_H_

	#include "types.h"
	#include "timer.h"

	#include "wiring.h" /* hack for IDE compile */

	/*
	* Note on Arduino compatibility:
	*
	* In the Arduino implementation, PWM is done "by hand" in the sense
	* that timer channels are hijacked in groups and an ISR is set which
	* toggles Servo::attach()ed pins using digitalWrite().
	*
	* While this scheme allows any pin to drive a servo, it chews up
	* cycles and complicates the programmer's notion of when a particular
	* timer channel will be in use.
	*
	* This implementation only allows Servo instances to attach() to pins
	* that already have a timer channel associated with them, and just
	* uses pwmWrite() to drive the wave.
	*
	* This introduces an incompatibility: while the Arduino
	* implementation of attach() returns the affected channel on success
	* and 0 on failure, this one returns true on success and false on
	* failure.
	*
	* RC Servos expect a pulse every 20 ms. Since periods are set for
	* entire timers, rather than individual channels, attach()ing a Servo
	* to a pin can interfere with other pins associated with the same
	* timer. As always, your board's pin map is your friend.
	*/

	// Pin number of unattached pins
	#define NOT_ATTACHED (-1)

	#define _Nbr_16timers 14 // Number of STM32F469 Timers
	#define SERVOS_PER_TIMER 4 // Number of timer channels


	// Default min/max pulse widths (in microseconds) and angles (in
	// degrees). Values chosen for Arduino compatibility. These values
	// are part of the public API; DO NOT CHANGE THEM.
	#define MIN_ANGLE 0
	#define MAX_ANGLE 180

	#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
	#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo

	/** Class for interfacing with RC servomotors. */
	class Servo {
	public:
	/**
	* @brief Construct a new Servo instance.
	*
	* The new instance will not be attached to any pin.
	*/
	Servo();

	/**
	* @brief Associate this instance with a servomotor whose input is
	* connected to pin.
	*
	* If this instance is already attached to a pin, it will be
	* detached before being attached to the new pin. This function
	* doesn't detach any interrupt attached with the pin's timer
	* channel.
	*
	* @param pin Pin connected to the servo pulse wave input. This
	* pin must be capable of PWM output.
	*
	* @param minPulseWidth Minimum pulse width to write to pin, in
	* microseconds. This will be associated
	* with a minAngle degree angle. Defaults to
	* SERVO_DEFAULT_MIN_PW = 544.
	*
	* @param maxPulseWidth Maximum pulse width to write to pin, in
	* microseconds. This will be associated
	* with a maxAngle degree angle. Defaults to
	* SERVO_DEFAULT_MAX_PW = 2400.
	*
	* @param minAngle Target angle (in degrees) associated with
	* minPulseWidth. Defaults to
	* SERVO_DEFAULT_MIN_ANGLE = 0.
	*
	* @param maxAngle Target angle (in degrees) associated with
	* maxPulseWidth. Defaults to
	* SERVO_DEFAULT_MAX_ANGLE = 180.
	*
	* @sideeffect May set pinMode(pin, PWM).
	*
	* @return true if successful, false when pin doesn't support PWM.
	*/

	bool attach(uint8 pin,
	uint16 minPulseWidth=MIN_PULSE_WIDTH,
	uint16 maxPulseWidth=MAX_PULSE_WIDTH,
	int16 minAngle=MIN_ANGLE,
	int16 maxAngle=MAX_ANGLE);
	/**
	* @brief Stop driving the servo pulse train.
	*
	* If not currently attached to a motor, this function has no effect.
	*
	* @return true if this call did anything, false otherwise.
	*/
	bool detach();

	/**
	* @brief Set the servomotor target angle.
	*
	* @param angle Target angle, in degrees. If the target angle is
	* outside the range specified at attach() time, it
	* will be clamped to lie in that range.
	*
	* @see Servo::attach()
	*/
	void write(int angle);

	/**
	* @brief Set the pulse width, in microseconds.
	*
	* @param pulseWidth Pulse width to send to the servomotor, in
	* microseconds. If outside of the range
	* specified at attach() time, it is clamped to
	* lie in that range.
	*
	* @see Servo::attach()
	*/
	void writeMicroseconds(uint16 pulseWidth);

	/**
	* Get the servomotor's target angle, in degrees. This will
	* lie inside the range specified at attach() time.
	*
	* @see Servo::attach()
	*/
	int read() const;

	/**
	* Get the current pulse width, in microseconds. This will
	* lie within the range specified at attach() time.
	*
	* @see Servo::attach()
	*/
	uint16 readMicroseconds() const;


	/**
	* @brief Check if this instance is attached to a servo.
	* @return true if this instance is attached to a servo, false otherwise.
	* @see Servo::attachedPin()
	*/
	bool attached() const { return this->pin != NOT_ATTACHED; }

	/**
	* @brief Get the pin this instance is attached to.
	* @return Pin number if currently attached to a pin, NOT_ATTACHED
	* otherwise.
	* @see Servo::attach()
	*/
	int attachedPin() const { return this->pin; }

	private:
	int16 pin;
	uint16 minPW;
	uint16 maxPW;
	int16 minAngle;
	int16 maxAngle;

	void resetFields(void);
	};



	#endif /* _SERVO_H_ */