Initial import of support files for all Digistump boards - Digispark, Pro, DigiX - including libraries, examples, tools, and other support files for the Arduino IDE

hardware/digistump/avr/libraries/SoftRcPulseIn/SoftRcPulseIn.cpp

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+/*
+ English: by RC Navy (2012)
+ =======
+ <SoftRcPulseIn>: an asynchronous library to read Input Pulse Width from standard Hobby Radio-Control. This library is a non-blocking version of pulseIn().
+ http://p.loussouarn.free.fr
+
+ Francais: par RC Navy (2012)
+ ========
+ <SoftRcPulseIn>: une librairie asynchrone pour lire les largeur d'impulsions des Radio-Commandes standards. Cette librairie est une version non bloquante de pulsIn().
+ http://p.loussouarn.free.fr
+*/
+
+#include "SoftRcPulseIn.h"
+
+#define LIB_VERSION					1
+#define LIB_REVISION				0
+
+#define STR(s)						#s
+#define MAKE_TEXT_VER_REV(Ver,Rev)	STR(Ver)"."STR(Rev)
+
+#define LIB_TEXT_VERSION_REVISION	MAKE_TEXT_VER_REV(LIB_VERSION,LIB_REVISION) /* Make Full version as a string "Ver.Rev" */
+
+SoftRcPulseIn *SoftRcPulseIn::first;
+
+SoftRcPulseIn::SoftRcPulseIn(void)
+{
+}
+
+uint8_t SoftRcPulseIn::attach(uint8_t Pin, uint16_t PulseMin_us/*=600*/, uint16_t PulseMax_us/*=2400*/)
+{
+uint8_t Ret=0;
+
+	_Pin=Pin;
+	_PinMask=TinyPinChange_PinToMsk(Pin);
+	_Min_us=PulseMin_us;
+	_Max_us=PulseMax_us;
+	next = first;
+	first = this;
+	pinMode(_Pin,INPUT);
+	_VirtualPortIdx=TinyPinChange_RegisterIsr(_Pin,SoftRcPulseIn::SoftRcPulseInInterrupt);
+	if(_VirtualPortIdx>=0)
+	{
+	  TinyPinChange_EnablePin(_Pin);
+	  Ret=1;
+	}
+	return(Ret);
+}
+
+int SoftRcPulseIn::LibVersion(void)
+{
+  return(LIB_VERSION);
+}
+
+int SoftRcPulseIn::LibRevision(void)
+{
+  return(LIB_REVISION);
+}
+
+char *SoftRcPulseIn::LibTextVersionRevision(void)
+{
+  return(LIB_TEXT_VERSION_REVISION);
+}
+
+uint8_t SoftRcPulseIn::available(void)
+{
+boolean Ret=0;
+uint16_t PulseWidth_us;
+
+  if(_Available)
+  {
+	noInterrupts();
+	PulseWidth_us=_Width_us;
+	interrupts();
+	Ret=_Available && (PulseWidth_us>=_Min_us) && (PulseWidth_us<=_Max_us);
+	_Available=0;
+  }
+  return(Ret);
+}
+
+uint16_t SoftRcPulseIn::width_us(void)
+{
+uint16_t PulseWidth_us;
+  noInterrupts();
+  PulseWidth_us=_Width_us;
+  interrupts();
+  return(PulseWidth_us);  
+}
+
+void SoftRcPulseIn::SoftRcPulseInInterrupt(void)
+{
+SoftRcPulseIn *RcPulseIn;
+
+  for ( RcPulseIn = first; RcPulseIn != 0; RcPulseIn = RcPulseIn->next )
+  {
+    if(TinyPinChange_GetPinEvent(RcPulseIn->_VirtualPortIdx)&RcPulseIn->_PinMask)
+    {
+	  if(digitalRead(RcPulseIn->_Pin))
+	  {
+		  /* High level, rising edge: start chrono */
+		  RcPulseIn->_Start_us=micros();
+	  }
+	  else
+	  {
+		  /* Low level, falling edge: stop chrono */
+		  RcPulseIn->_Width_us=micros()-RcPulseIn->_Start_us;
+		  RcPulseIn->_Available=1;
+	  }
+    }
+  }
+}

hardware/digistump/avr/libraries/SoftRcPulseIn/SoftRcPulseIn.h

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+/*
+ English: by RC Navy (2012)
+ =======
+ <SoftRcPulseIn>: an asynchronous library to read Input Pulse Width from standard Hobby Radio-Control. This library is a non-blocking version of pulseIn().
+ http://p.loussouarn.free.fr
+
+ Francais: par RC Navy (2012)
+ ========
+ <SoftRcPulseIn>: une librairie asynchrone pour lire les largeur d'impulsions des Radio-Commandes standards. Cette librairie est une version non bloquante de pulsIn().
+ http://p.loussouarn.free.fr
+*/
+
+#ifndef SOFT_RC_PULSE_IN_H
+#define SOFT_RC_PULSE_IN_H
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include <TinyPinChange.h>
+
+#include <inttypes.h>
+
+class SoftRcPulseIn
+{
+  public:
+    SoftRcPulseIn();
+    static int   LibVersion(void);
+    static int   LibRevision(void);
+    static char *LibTextVersionRevision(void);
+    static void  SoftRcPulseInInterrupt(void);
+    uint8_t      attach(uint8_t Pin, uint16_t PulseMin_us=600, uint16_t PulseMax_us=2400);
+    boolean      available();
+    uint16_t     width_us();
+    private:
+    class SoftRcPulseIn  *next;
+    static SoftRcPulseIn *first;
+	uint8_t _Pin;
+	uint8_t _PinMask;
+	uint8_t _VirtualPortIdx;
+	uint16_t _Min_us;
+	uint16_t _Max_us;
+	uint32_t _Start_us;
+	uint32_t _Width_us;
+	boolean  _Available;
+};
+/*******************************************************/
+/* Application Programming Interface (API) en Francais */
+/*******************************************************/
+
+/*      Methodes en Francais                            English native methods */
+#define attache											attach
+#define disponible										available
+#define largeur_us										width_us
+
+#endif

hardware/digistump/avr/libraries/SoftRcPulseIn/examples/SoftRcPulseInDemo/SoftRcPulseInDemo.ino

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+#include <SoftRcPulseIn.h>
+#include <TinyPinChange.h>
+
+#define BROCHE_VOIE1  2
+
+SoftRcPulseIn ImpulsionVoie1;
+
+
+void setup()
+{
+#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__)
+    Serial.begin(9600);
+    Serial.print("SoftRcPulseIn library V");Serial.print(SoftRcPulseIn::LibTextVersionRevision());Serial.print(" demo");
+#endif
+  ImpulsionVoie1.attache(BROCHE_VOIE1);
+}
+
+void loop()
+{
+  if(ImpulsionVoie1.disponible())
+  {
+#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__)
+    Serial.print("Pulse=");Serial.println(ImpulsionVoie1.largeur_us());
+#endif
+  }
+}
+
+

hardware/digistump/avr/libraries/SoftRcPulseIn/examples/SoftRcPulseInOutDemo/SoftRcPulseInOutDemo.ino

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+/*
+This sketch demonstrates how to use <SoftRcPulseIn> library to get RC pulses from a receiver and to use <SoftRcPulseOut> library to drive 2 servos.
+The first servo will follow the order, and the second one will have a reverted motion.
+Please notice this sketch is fully asynchronous: no blocking functions such as delay() or pulseIn() are used.
+Tested on arduino UNO, ATtiny84, ATtiny85 and Digispark rev2 (Model A).
+RC Navy 2013
+http://p.loussouarn.free.fr
+*/
+
+#include <SoftRcPulseIn.h>
+#include <SoftRcPulseOut.h>
+#include <TinyPinChange.h> /* Needed for <SoftRcPulseIn> library */
+
+#define RX_CHANNEL_PIN          2
+
+#define SERVO1_PIN              3
+#define SERVO2_PIN              4
+
+#define LED_PIN                 1//1 on Digispark rev2 (Model A), change to pin 0 for Digispark rev1 (Model B), change to 13 for UNO
+
+#define LED_HALF_PERIOD_MS      250
+
+#define PULSE_MAX_PERIOD_MS     30  /* To refresh the servo in case of pulse extinction */
+
+#define NOW                     1
+
+#define NEUTRAL_US              1500 /* Default position in case of no pulse at startup */
+
+enum {NORMAL=0, INVERTED, SERVO_NB}; /* Trick: use an enumeration to declare the index of the servos AND the amount of servos */
+
+
+SoftRcPulseIn  RxChannelPulse;       /* RxChannelPulse is an objet  of SoftRcPulseIn type */
+SoftRcPulseOut ServoMotor[SERVO_NB]; /* Table Creation for 2 objets of SoftRcPulseOut type */
+
+/* Possible values to compute a shifting average fin order to smooth the recieved pulse witdh */
+#define AVG_WITH_1_VALUE        0
+#define AVG_WITH_2_VALUES       1
+#define AVG_WITH_4_VALUES       2
+#define AVG_WITH_8_VALUES       3
+#define AVG_WITH_16_VALUES      4
+
+#define AVERAGE_LEVEL          AVG_WITH_4_VALUES  /* Choose here the average level among the above listed values */
+                                                  /* Higher is the average level, more the system is stable (jitter suppression), but lesser is the reaction */
+
+/* Macro for average */
+#define AVERAGE(ValueToAverage,LastReceivedValue,AverageLevelInPowerOf2)  ValueToAverage=(((ValueToAverage)*((1<<(AverageLevelInPowerOf2))-1)+(LastReceivedValue))/(1<<(AverageLevelInPowerOf2)))
+
+/* Variables */
+uint32_t LedStartMs=millis();
+uint32_t RxPulseStartMs=millis();
+boolean  LedState=HIGH;
+
+void setup()
+{
+#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__)
+  Serial.begin(9600);
+  Serial.print("SoftRcPulseIn library V");Serial.print(SoftRcPulseIn::LibTextVersionRevision());Serial.print(" demo"); /* For arduino UNO which has an hardware UART, display the library version in the console */
+#endif
+  RxChannelPulse.attach(RX_CHANNEL_PIN);
+  ServoMotor[NORMAL].attach(SERVO1_PIN);   /* enumeration is used a index for the ServoMotor[] table */
+  ServoMotor[INVERTED].attach(SERVO2_PIN); /* enumeration is used a index for the ServoMotor[]table */
+  pinMode(LED_PIN, OUTPUT);
+}
+
+void loop()
+{
+static uint16_t Width_us=NEUTRAL_US; /* Static to keep the value at the next loop */
+  
+  /* Receiver pulse acquisition and command of 2 servos, one in the direct direction, one in the inverted direction */
+  if(RxChannelPulse.available())
+  {
+    AVERAGE(Width_us,RxChannelPulse.width_us(),AVERAGE_LEVEL);
+    ServoMotor[NORMAL].write_us(Width_us);                  /* Direct Signal */
+    ServoMotor[INVERTED].write_us((NEUTRAL_US*2)-Width_us); /* Inverted Signal */
+    SoftRcPulseOut::refresh(NOW); /* NOW argument (=1) allows to synchronize outgoing pulses with incoming pulses */
+    RxPulseStartMs=millis();      /* Restart the Chrono for Pulse */
+#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__)
+    Serial.print("Pulse=");Serial.println(Largeur_us); /* For arduino UNO which has an hardware UART, display the library version in the console */
+#endif
+  }
+  else
+  {
+    /* Check for pulse extinction */
+    if(millis()-RxPulseStartMs>=PULSE_MAX_PERIOD_MS)
+    {
+      /* Refresh the servos with the last known position in order to avoid "flabby" servos */
+      SoftRcPulseOut::refresh(NOW); /* Immediate refresh of outgoing pulses */
+      RxPulseStartMs=millis(); /* Restart the Chrono for Pulse */
+    }
+  }
+  
+  /* Blink LED Management */
+  if(millis()-LedStartMs>=LED_HALF_PERIOD_MS)
+  {
+    digitalWrite(LED_PIN, LedState);
+    LedState=!LedState;  /* At the next loop, if the half period is elapsed, the LED state will be inverted */
+    LedStartMs=millis(); /* Restart the Chrono for the LED */
+  }
+
+}

hardware/digistump/avr/libraries/SoftRcPulseIn/keywords.txt

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+#######################################
+# Syntax Coloring Map SoftRcPulseIn
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+SoftRcPulseIn	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+LibVersion	KEYWORD2
+LibRevision	KEYWORD2
+LibTextVersionRevision	KEYWORD2
+attach	KEYWORD2
+attache	KEYWORD2
+available	KEYWORD2
+disponible	KEYWORD2
+width_us	KEYWORD2
+largeur_us	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################