Merge pull request #1 from Makuna/Servo

Servo

Author: me-no-dev

hardware/esp8266com/esp8266/cores/esp8266/Arduino.h

@@ -101,13 +101,29 @@ void yield(void);
 #define timer1_enabled()        ((T1C & (1 << TCTE)) != 0)
 #define timer1_interrupted()    ((T1C & (1 << TCIS)) != 0)
 
+typedef void(*timercallback)(void);
+
 void timer1_isr_init(void);
 void timer1_enable(uint8_t divider, uint8_t int_type, uint8_t reload);
 void timer1_disable(void);
-void timer1_attachInterrupt(void (*userFunc)(void));
+void timer1_attachInterrupt(timercallback userFunc);
 void timer1_detachInterrupt(void);
 void timer1_write(uint32_t ticks); //maximum ticks 8388607
 
+// timer0 is a special CPU timer that has very high resolution but with
+// limited control.
+// it uses CCOUNT (ESP.GetCycleCount()) as the non-resetable timer counter
+// it does not support divide, type, or reload flags
+// it is auto-disabled when the compare value matches CCOUNT
+// it is auto-enabled when the compare value changes
+#define timer0_interrupted()    (ETS_INTR_PENDING() & (_BV(ETS_COMPARE0_INUM)))
+#define timer0_read() ((__extension__({uint32_t count;__asm__ __volatile__("esync; rsr %0,ccompare0":"=a" (count));count;})))
+#define timer0_write(count) __asm__ __volatile__("wsr %0,ccompare0; esync"::"a" (count) : "memory")
+
+void timer0_isr_init(void);
+void timer0_attachInterrupt(timercallback userFunc);
+void timer0_detachInterrupt(void);
+
 // undefine stdlib's abs if encountered
 #ifdef abs
 #undef abs

hardware/esp8266com/esp8266/cores/esp8266/core_esp8266_timer.c

@@ -20,22 +20,33 @@
 */
 #include "wiring_private.h"
 #include "pins_arduino.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 #include "c_types.h"
 #include "ets_sys.h"
 
-void (*timer1_user_cb)(void);
+#ifdef __cplusplus
+}
+#endif
+
+/ ------------------------------------------------------------------ -
+// timer 1
+
+static volatile timercallback timer1_user_cb = NULL;
 
 void timer1_isr_handler(void *para){
-    if((T1C & ((1 << TCAR) | (1 << TCIT))) == 0) TEIE &= ~TEIE1;//edge int disable
+    if ((T1C & ((1 << TCAR) | (1 << TCIT))) == 0) TEIE &= ~TEIE1;//edge int disable
     T1I = 0;
-    if(timer1_user_cb) timer1_user_cb();
+    if (timer1_user_cb) timer1_user_cb();
 }
 
 void timer1_isr_init(){
     ETS_FRC_TIMER1_INTR_ATTACH(timer1_isr_handler, NULL);
 }
 
-void timer1_attachInterrupt(void (*userFunc)(void)) {
+void timer1_attachInterrupt(timercallback userFunc) {
     timer1_user_cb = userFunc;
     ETS_FRC1_INTR_ENABLE();
 }
@@ -52,11 +63,39 @@ void timer1_enable(uint8_t divider, uint8_t int_type, uint8_t reload){
 }
 
 void timer1_write(uint32_t ticks){
-    T1L = ((ticks) & 0x7FFFFF);
-    if((T1C & (1 << TCIT)) == 0) TEIE |= TEIE1;//edge int enable
+    T1L = ((ticks)& 0x7FFFFF);
+    if ((T1C & (1 << TCIT)) == 0) TEIE |= TEIE1;//edge int enable
 }
 
 void timer1_disable(){
     T1C = 0;
     T1I = 0;
 }
+
+//-------------------------------------------------------------------
+// timer 0
+
+static volatile timercallback timer0_user_cb = NULL;
+
+void timer0_isr_handler(void* para){
+    if (timer0_user_cb) {
+        timer0_user_cb();
+    }
+}
+
+void timer0_isr_init(){
+    ETS_CCOMPARE0_INTR_ATTACH(timer0_isr_handler, NULL);
+}
+
+void timer0_attachInterrupt(timercallback userFunc) {
+    timer0_user_cb = userFunc;
+    ETS_CCOMPARE0_ENABLE();
+}
+
+void timer0_detachInterrupt() {
+    timer0_user_cb = NULL;
+    ETS_CCOMPARE0_DISABLE();
+}
+
+
+

hardware/esp8266com/esp8266/libraries/Servo/examples/Sweep/Sweep.ino

@@ -0,0 +1,39 @@
+/* Sweep
+ by BARRAGAN <http://barraganstudio.com> 
+ This example code is in the public domain.
+
+ modified 28 May 2015
+ by Michael C. Miller
+ modified 8 Nov 2013
+ by Scott Fitzgerald
+
+ http://arduino.cc/en/Tutorial/Sweep
+*/ 
+
+#include <Servo.h> 
+ 
+Servo myservo;  // create servo object to control a servo 
+                // twelve servo objects can be created on most boards
+ 
+
+void setup() 
+{ 
+  myservo.attach(2);  // attaches the servo on GIO2 to the servo object 
+} 
+ 
+void loop() 
+{ 
+  int pos;
+
+  for(pos = 0; pos <= 180; pos += 1) // goes from 0 degrees to 180 degrees 
+  {                                  // in steps of 1 degree 
+    myservo.write(pos);              // tell servo to go to position in variable 'pos' 
+    delay(15);                       // waits 15ms for the servo to reach the position 
+  } 
+  for(pos = 180; pos>=0; pos-=1)     // goes from 180 degrees to 0 degrees 
+  {                                
+    myservo.write(pos);              // tell servo to go to position in variable 'pos' 
+    delay(15);                       // waits 15ms for the servo to reach the position 
+  } 
+} 
+

hardware/esp8266com/esp8266/libraries/Servo/keywords.txt

@@ -0,0 +1,24 @@
+#######################################
+# Syntax Coloring Map Servo
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Servo	KEYWORD1	Servo
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+attach	KEYWORD2
+detach	KEYWORD2
+write	KEYWORD2
+read	KEYWORD2
+attached	KEYWORD2
+writeMicroseconds	KEYWORD2
+readMicroseconds	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################

hardware/esp8266com/esp8266/libraries/Servo/library.properties

@@ -0,0 +1,9 @@
+name=Servo
+version=1.0.2
+author=Michael C. Miller
+maintainer=GitHub/esp8266/arduino
+sentence=Allows Esp8266 boards to control a variety of servo motors. 
+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 />
+category=Device Control
+url=http://arduino.cc/en/Reference/Servo
+architectures=esp8266

hardware/esp8266com/esp8266/libraries/Servo/src/Servo.h

@@ -0,0 +1,93 @@
+/*
+  Servo.h - Interrupt driven Servo library for Esp8266 using timers
+  Copyright (c) 2015 Michael C. Miller. All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+  */
+
+
+//   A servo is activated by creating an instance of the Servo class passing
+//   the desired pin to the attach() method.
+//   The servos are pulsed in the background using the value most recently
+//   written using the write() method.
+//
+//   This library uses time0 and timer1.
+//   Note that timer0 may be repurposed when the first servo is attached.
+//
+//   Timers are seized as needed in groups of 12 servos - 24 servos use two
+//   timers, there are only two timers for the esp8266 so the support stops here
+//   The sequence used to sieze timers is defined in timers.h
+//
+//   The methods are:
+//
+//   Servo - Class for manipulating servo motors connected to Arduino pins.
+//
+//   attach(pin )  - Attaches a servo motor to an i/o pin.
+//   attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+//   default min is 544, max is 2400
+//
+//   write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+//   writeMicroseconds() - Sets the servo pulse width in microseconds
+//   read()      - Gets the last written servo pulse width as an angle between 0 and 180.
+//   readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+//   attached()  - Returns true if there is a servo attached.
+//   detach()    - Stops an attached servos from pulsing its i/o pin.
+  
+
+#ifndef Servo_h
+#define Servo_h
+
+#include <Arduino.h>
+
+// the following are in us (microseconds)
+//
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo  
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo 
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds 
+
+// NOTE: to maintain a strict refresh interval the user needs to not exceede 8 servos 
+#define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer 
+#define MAX_SERVOS   (ServoTimerSequence_COUNT  * SERVOS_PER_TIMER)
+
+#if defined(ESP8266)
+
+#include "esp8266/ServoTimers.h"
+
+#else
+
+#error "This library only supports esp8266 boards."
+
+#endif
+
+class Servo
+{
+public:
+    Servo();
+    uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
+    uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. 
+    void detach();
+    void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds 
+    void writeMicroseconds(int value); // Write pulse width in microseconds 
+    int read();                        // returns current pulse width as an angle between 0 and 180 degrees
+    int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
+    bool attached();                   // return true if this servo is attached, otherwise false 
+private:
+    uint8_t _servoIndex;               // index into the channel data for this servo
+    uint16_t _minUs;                   
+    uint16_t _maxUs;                   
+};
+
+#endif