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Initial import of support files for all Digistump boards - Digispark, Pro, DigiX - including libraries, examples, tools, and other support files for the Arduino IDE
This commit is contained in:
Erik Tylek Kettenburg
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#include "SoftRcPulseOut.h"
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/*
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Update 01/03/2013: add support for DigiSpark (http://digistump.com): automatic Timer selection (RC Navy: p.loussouarn.free.fr)
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English: by RC Navy (2012)
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=======
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<SoftRcPulseOut>: a library mainly based on the <SoftwareServo> library, but with a better pulse generation to limit jitter.
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It supports the same methods as <SoftwareServo>.
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It also support Pulse Width order given in microseconds. The current Pulse Width can also be read in microseconds.
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The refresh method can admit an optionnal argument (force). If SoftRcPulseOut::refresh(1) is called, the refresh is forced even if 20 ms are not elapsed.
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http://p.loussouarn.free.fr
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Francais: par RC Navy (2012)
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========
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<SoftRcPulseOut>: une librairie majoritairement basee sur la librairie <SoftwareServo>, mais avec une meilleure generation des impulsions pour limiter la gigue.
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Elle supporte les memes methodes que <SoftwareServo>.
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Elle supporte egalement une consigne de largeur d'impulsion passee en microseconde. La largeur de l'impulsion courante peut egalement etre lue en microseconde.
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La methode refresh peut admettre un parametre optionnel (force). Si SoftRcPulseOut::resfresh(1) est appelee, le refresh est force meme si 20 ms ne se sont pas ecoulee.
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http://p.loussouarn.free.fr
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*/
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/* Automatic Timer selection (at compilation time) */
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#ifndef TIMER_TO_USE_FOR_MILLIS //This symbol is not defined arduino standard core and is defined in core_build_options.h in DigiStump version
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#define SOFT_RC_PULSE_OUT_TCNT TCNT0 //For arduino standard core of UNO/MEGA, etc
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#else
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#if (TIMER_TO_USE_FOR_MILLIS==1)
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#define SOFT_RC_PULSE_OUT_TCNT TCNT1 //For example for ATtiny85
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#else
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#define SOFT_RC_PULSE_OUT_TCNT TCNT0 //For example for ATtiny84
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#endif
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#endif
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SoftRcPulseOut *SoftRcPulseOut::first;
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#define NO_ANGLE (0xff)
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SoftRcPulseOut::SoftRcPulseOut() : pin(0),angle(NO_ANGLE),pulse0(0),min16(34),max16(150),next(0)
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{}
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void SoftRcPulseOut::setMinimumPulse(uint16_t t)
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{
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min16 = t/16;
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}
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void SoftRcPulseOut::setMaximumPulse(uint16_t t)
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{
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max16 = t/16;
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}
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uint8_t SoftRcPulseOut::attach(int pinArg)
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{
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pin = pinArg;
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angle = NO_ANGLE;
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pulse0 = 0;
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next = first;
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first = this;
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digitalWrite(pin,0);
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pinMode(pin,OUTPUT);
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return 1;
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}
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void SoftRcPulseOut::detach()
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{
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for ( SoftRcPulseOut **p = &first; *p != 0; p = &((*p)->next) ) {
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if ( *p == this) {
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*p = this->next;
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this->next = 0;
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return;
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}
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}
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}
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void SoftRcPulseOut::write(int angleArg)
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{
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if ( angleArg < 0) angleArg = 0;
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if ( angleArg > 180) angleArg = 180;
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angle = angleArg;
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// bleh, have to use longs to prevent overflow, could be tricky if always a 16MHz clock, but not true
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// That 64L on the end is the TCNT0 prescaler, it will need to change if the clock's prescaler changes,
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// but then there will likely be an overflow problem, so it will have to be handled by a human.
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#ifdef TIMER0_TICK_EVERY_X_CYCLES
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pulse0 = (min16*16L*clockCyclesPerMicrosecond() + (max16-min16)*(16L*clockCyclesPerMicrosecond())*angle/180L)/TIMER0_TICK_EVERY_X_CYCLES;
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#else
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pulse0 = (min16*16L*clockCyclesPerMicrosecond() + (max16-min16)*(16L*clockCyclesPerMicrosecond())*angle/180L)/64L;
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#endif
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}
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void SoftRcPulseOut::write_us(int PulseWidth_us)
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{
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SoftRcPulseOut::write(map(PulseWidth_us,min16*16,max16*16,0,180));
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}
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uint8_t SoftRcPulseOut::read()
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{
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return angle;
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}
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uint8_t SoftRcPulseOut::read_us()
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{
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return map(angle,0,180,min16*16,max16*16);
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}
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uint8_t SoftRcPulseOut::attached()
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{
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for ( SoftRcPulseOut *p = first; p != 0; p = p->next ) {
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if ( p == this) return 1;
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}
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return 0;
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}
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uint8_t SoftRcPulseOut::refresh(bool force /* = false */)
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{
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uint8_t RefreshDone=0;
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uint8_t count = 0, i = 0;
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uint16_t base = 0;
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SoftRcPulseOut *p;
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static unsigned long lastRefresh = 0;
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unsigned long m = millis();
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if(!force)
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{
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// if we haven't wrapped millis, and 20ms have not passed, then don't do anything
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if ( m >= lastRefresh && m < lastRefresh + 20) return(RefreshDone);
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}
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RefreshDone=1; //Ok: Refresh will be performed
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lastRefresh = m;
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for ( p = first; p != 0; p = p->next ) if ( p->pulse0) count++;
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if ( count == 0) return(RefreshDone);
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// gather all the SoftRcPulseOuts in an array
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SoftRcPulseOut *s[count];
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for ( p = first; p != 0; p = p->next ) if ( p->pulse0) s[i++] = p;
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// bubblesort the SoftRcPulseOuts by pulse time, ascending order
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s[0]->ItMasked=0;
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for(;;)
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{
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uint8_t moved = 0;
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for ( i = 1; i < count; i++)
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{
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s[i]->ItMasked=0;
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if ( s[i]->pulse0 < s[i-1]->pulse0)
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{
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SoftRcPulseOut *t = s[i];
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s[i] = s[i-1];
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s[i-1] = t;
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moved = 1;
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}
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}
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if ( !moved) break;
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}
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for ( i = 1; i < count; i++)
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{
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if ( abs(s[i]->pulse0 - s[i-1]->pulse0)<=5)
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{
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s[i]->ItMasked=1; /* 2 consecutive Pulses are close each other, so do not unmask interrupts between Pulses */
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}
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}
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// turn on all the pins
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// Note the timing error here... when you have many SoftwareServos going, the
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// ones at the front will get a pulse that is a few microseconds too long.
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// Figure about 4uS/SoftRcPulseOut after them. This could be compensated, but I feel
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// it is within the margin of error of software SoftRcPulseOuts that could catch
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// an extra interrupt handler at any time.
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noInterrupts();
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for ( i = 0; i < count; i++) digitalWrite( s[i]->pin, 1);
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interrupts();
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uint8_t start = SOFT_RC_PULSE_OUT_TCNT;
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uint8_t now = start;
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uint8_t last = now;
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// Now wait for each pin's time in turn..
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for ( i = 0; i < count; i++)
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{
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uint16_t go = start + s[i]->pulse0;
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uint16_t it = go - 4; /* 4 Ticks is OK for UNO @ 16MHz */ /* Mask Interruptions just before setting down the pin */
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// loop until we reach or pass 'go' time
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for (;;)
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{
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now = SOFT_RC_PULSE_OUT_TCNT;
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if ( now < last) base += 256;
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last = now;
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if(!s[i]->ItMasked)
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{
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if( base + now > it)
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{
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noInterrupts();
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s[i]->ItMasked=1;
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}
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}
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if ( base + now > go)
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{
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digitalWrite( s[i]->pin,0);
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if((i+1)<count)
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{
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if(!s[i+1]->ItMasked)
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{
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interrupts();
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}
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}else interrupts();
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break;
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}
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}
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}
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return(RefreshDone);
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}
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