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/servo.c

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/*! \file servo.c \brief Interrupt-driven RC Servo function library. */
//*****************************************************************************
//
// File Name    : 'servo.c'
// Title        : Interrupt-driven RC Servo function library
// Author       : Pascal Stang - Copyright (C) 2002
// Created      : 7/31/2002
// Revised      : 8/02/2002
// Version      : 1.0
// Target MCU   : Atmel AVR Series
// Editor Tabs  : 4
//
// This code is distributed under the GNU Public License
//      which can be found at http://www.gnu.org/licenses/gpl.txt
//
//*****************************************************************************

#ifndef WIN32
    #include <avr/io.h>
#endif

#include "global.h"
#include "servo.h"

// Program ROM constants

// Global variables
// servo channel registers
u16 ServoPosTics;
u16 ServoPeriodTics;
u08 ServoChannel;
ServoChannelType ServoChannels[SERVO_NUM_CHANNELS];

// functions

//! initializes software PWM system
void servoInit(void)
{
    u08 channel;
    // disble the timer1 output compare A interrupt
    cbi(TIMSK, OCIE1A);
    // set the prescaler for timer1
    timer1SetPrescaler(TIMER_CLK_DIV256);
    // attach the software PWM service routine to timer1 output compare A
    timerAttach(TIMER1OUTCOMPAREA_INT, servoService);
    // enable and clear channels
    for(channel=0; channel<SERVO_NUM_CHANNELS; channel++)
    {
        // set minimum position as default
        ServoChannels[channel].duty = SERVO_MIN;
        // set default port and pins assignments
        ServoChannels[channel].port = _SFR_IO_ADDR(SERVO_DEFAULT_PORT);
        //ServoChannels[channel].port = (unsigned char)&SERVO_DEFAULT_PORT;
        ServoChannels[channel].pin = channel;
        // set channel pin to output
        // THIS IS OBSOLETED BY THE DYNAMIC CHANNEL TO PORT,PIN ASSIGNMENTS
        //outb(SERVODDR, inb(SERVODDR) | (1<<channel));
    }
    // set PosTics
    ServoPosTics = 0;
    // set PeriodTics
    ServoPeriodTics = SERVO_MAX*9;
    // set initial interrupt time
    u16 OCValue;
    // read in current value of output compare register OCR1A
    OCValue =  inb(OCR1AL);     // read low byte of OCR1A
    OCValue += inb(OCR1AH)<<8;  // read high byte of OCR1A
    // increment OCR1A value by nextTics
    OCValue += ServoPeriodTics; 
    // set future output compare time to this new value
    outb(OCR1AH, (OCValue>>8));         // write high byte
    outb(OCR1AL, (OCValue & 0x00FF));   // write low byte
    // enable the timer1 output compare A interrupt
    sbi(TIMSK, OCIE1A);
}

//! turns off software PWM system
void servoOff(void)
{
    // disable the timer1 output compare A interrupt
    cbi(TIMSK, OCIE1A);
    // detach the service routine
    timerDetach(TIMER1OUTCOMPAREA_INT);
}

//! set port and I/O pin for channel
void servoSetChannelIO(u08 channel, u08 port, u08 pin)
{
    ServoChannels[channel].port = port;
    ServoChannels[channel].pin = (pin & 0x0F);
}

//! set servo position on channel
void servoSetPosition(u08 channel, u08 position)
{
    // input should be between 0 and POSITION_MAX
    u16 pos_scaled;
    // calculate scaled position
    pos_scaled = ((u16)position*(SERVO_MAX-SERVO_MIN)/POSITION_MAX)+SERVO_MIN;
    // set position
    servoSetPositionRaw(channel, pos_scaled);
}

//! get servo position on channel
u08 servoGetPosition(u08 channel)
{
    return (u08)( ((servoGetPositionRaw(channel)-SERVO_MIN)*POSITION_MAX)/(SERVO_MAX-SERVO_MIN) );
}

//! set servo position on channel (raw unscaled format)
void servoSetPositionRaw(u08 channel, u16 position)
{
    // bind to limits
    position = MAX(position, SERVO_MIN);
    position = MIN(position, SERVO_MAX);
    // set position
    ServoChannels[channel].duty = position;
}

//! get servo position on channel (raw unscaled format)
u16 servoGetPositionRaw(u08 channel)
{
    return ServoChannels[channel].duty;
}

void servoService(void)
{
    u16 nextTics;

    if(ServoChannel < SERVO_NUM_CHANNELS)
    {
        // turn off current channel
        outb(_SFR_IO8(ServoChannels[ServoChannel].port), inb(_SFR_IO8(ServoChannels[ServoChannel].port)) & ~(1<<ServoChannels[ServoChannel].pin));
        // cbi/sbi also works, but it's compatibility is questionable
        //cbi(_SFR_IO8(ServoChannels[ServoChannel].port), ServoChannels[ServoChannel].pin);
    }
    
    // next channel
    ServoChannel++;

    if(ServoChannel != SERVO_NUM_CHANNELS)
    {
        // loop to channel 0 if needed
        if(ServoChannel > SERVO_NUM_CHANNELS)   ServoChannel = 0;
        // turn on new channel
        outb(_SFR_IO8(ServoChannels[ServoChannel].port), inb(_SFR_IO8(ServoChannels[ServoChannel].port)) | (1<<ServoChannels[ServoChannel].pin));
        // cbi/sbi also works, but it's compatibility is questionable
        //sbi(_SFR_IO8(ServoChannels[ServoChannel].port), ServoChannels[ServoChannel].pin);
        // schedule turn off time
        nextTics = ServoChannels[ServoChannel].duty;
    }
    else //(Channel == SERVO_NUM_CHANNELS)
    {
        // ***we could save time by precalculating this
        // schedule end-of-period
        nextTics = ServoPeriodTics-ServoPosTics;
    }

    // schedule next interrupt
    u16 OCValue;
    // read in current value of output compare register OCR1A
    OCValue =  inb(OCR1AL);     // read low byte of OCR1A
    OCValue += inb(OCR1AH)<<8;  // read high byte of OCR1A
    // increment OCR1A value by nextTics
    OCValue += nextTics;
//  OCR1A+=nextTics;
    // set future output compare time to this new value
    outb(OCR1AH, (OCValue>>8));         // write high byte
    outb(OCR1AL, (OCValue & 0x00FF));   // write low byte
    // set our new tic position
    ServoPosTics += nextTics;
    if(ServoPosTics >= ServoPeriodTics) ServoPosTics = 0;
}

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