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‎library.properties

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@@ -6,4 +6,4 @@ sentence=Allows Arduino/Genuino boards to control a variety of servo motors.
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paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />On the Arduino Due you can control up to 60 servos.<br />
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category=Device Control
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url=http://www.arduino.cc/en/Reference/Servo
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architectures=avr,sam,samd,stm32f4
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architectures=avr,sam,samd,nrf52,stm32f4

‎src/Servo.h

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#include "samd/ServoTimers.h"
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#elif defined(ARDUINO_ARCH_STM32F4)
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#include "stm32f4/ServoTimers.h"
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#elif defined(ARDUINO_ARCH_NRF52)
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#include "nrf52/ServoTimers.h"
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#else
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#error "This library only supports boards with an AVR, SAM, SAMD or STM32F4 processor."
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#error "This library only supports boards with an AVR, SAM, SAMD, NRF52 or STM32F4 processor."
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#endif
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#define Servo_VERSION 2 // software version of this library

‎src/nrf52/Servo.cpp

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/*
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Copyright (c) 2016 Arduino. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#if defined(ARDUINO_ARCH_NRF52)
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#include <Arduino.h>
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#include <Servo.h>
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static servo_t servos[MAX_SERVOS]; // static array of servo structures
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uint8_t ServoCount = 0; // the total number of attached servos
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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}};
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static uint16_t seq_values[3][NRF_PWM_CHANNEL_COUNT]={{0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
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Servo::Servo()
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{
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if (ServoCount < MAX_SERVOS) {
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this->servoIndex = ServoCount++; // assign a servo index to this instance
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} else {
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this->servoIndex = INVALID_SERVO; // too many servos
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}
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}
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uint8_t Servo::attach(int pin)
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{
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return this->attach(pin, 0, 2500);
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}
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uint8_t Servo::attach(int pin, int min, int max)
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{
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int servo_min, servo_max;
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if (this->servoIndex < MAX_SERVOS) {
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pinMode(pin, OUTPUT); // set servo pin to output
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servos[this->servoIndex].Pin.nbr = pin;
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if(min < servo_min) min = servo_min;
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if (max > servo_max) max = servo_max;
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this->min = min;
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this->max = max;
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servos[this->servoIndex].Pin.isActive = true;
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}
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return this->servoIndex;
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}
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void Servo::detach()
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{
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servos[this->servoIndex].Pin.isActive = false;
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}
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void Servo::write(int value)
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{
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if (value < 0)
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value = 0;
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else if (value > 180)
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value = 180;
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value = map(value, 0, 180, MIN_PULSE, MAX_PULSE);
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writeMicroseconds(value);
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}
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void Servo::writeMicroseconds(int value)
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{
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uint8_t channel, instance;
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uint8_t pin = servos[this->servoIndex].Pin.nbr;
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//instance of pwm module is MSB - look at VWariant.h
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instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16;
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//index of pwm channel is LSB - look at VWariant.h
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channel=g_APinDescription[pin].ulPWMChannel & 0x0F;
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group_pins[instance][channel]=g_APinDescription[pin].ulPin;
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NRF_PWM_Type * PWMInstance = instance == 0 ? NRF_PWM0 : (instance == 1 ? NRF_PWM1 : NRF_PWM2);
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//configure pwm instance and enable it
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seq_values[instance][channel]= value | 0x8000;
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nrf_pwm_sequence_t const seq={
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seq_values[instance],
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NRF_PWM_VALUES_LENGTH(seq_values),
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0,
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0
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};
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nrf_pwm_pins_set(PWMInstance, group_pins[instance]);
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nrf_pwm_enable(PWMInstance);
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nrf_pwm_configure(PWMInstance, NRF_PWM_CLK_125kHz, NRF_PWM_MODE_UP, 2500); // 20ms - 50Hz
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nrf_pwm_decoder_set(PWMInstance, NRF_PWM_LOAD_INDIVIDUAL, NRF_PWM_STEP_AUTO);
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nrf_pwm_sequence_set(PWMInstance, 0, &seq);
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nrf_pwm_loop_set(PWMInstance, 0UL);
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nrf_pwm_task_trigger(PWMInstance, NRF_PWM_TASK_SEQSTART0);
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}
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int Servo::read() // return the value as degrees
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{
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return map(readMicroseconds(), MIN_PULSE, MAX_PULSE, 0, 180);
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}
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int Servo::readMicroseconds()
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{
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uint8_t channel, instance;
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uint8_t pin=servos[this->servoIndex].Pin.nbr;
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instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16;
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channel=g_APinDescription[pin].ulPWMChannel & 0x0F;
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// remove the 16th bit we added before
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return seq_values[instance][channel] & 0x7FFF;
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}
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bool Servo::attached()
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{
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return servos[this->servoIndex].Pin.isActive;
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}
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#endif // ARDUINO_ARCH_NRF52

‎src/nrf52/ServoTimers.h

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/*
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Copyright (c) 2016 Arduino. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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* NRF52 doesn't use timer, but pwm. This file include definitions to keep
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* compatibility with the Servo library standards.
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*/
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#ifndef __SERVO_TIMERS_H__
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#define __SERVO_TIMERS_H__
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/**
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* NRF52 Only definitions
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* ---------------------
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*/
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#define MIN_PULSE 55
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#define MAX_PULSE 284
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// define one timer in order to have MAX_SERVOS = 12
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typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
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#endif // __SERVO_TIMERS_H__

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