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<h1>servo.h</h1><a href="servo_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment">00001 <span class="comment">/*! \file servo.h \brief Interrupt-driven RC Servo function library. */</span>
00002 <span class="comment">//*****************************************************************************</span>
00003 <span class="comment">//</span>
00004 <span class="comment">// File Name : 'servo.h'</span>
00005 <span class="comment">// Title : Interrupt-driven RC Servo function library</span>
00006 <span class="comment">// Author : Pascal Stang - Copyright (C) 2002</span>
00007 <span class="comment">// Created : 7/31/2002</span>
00008 <span class="comment">// Revised : 8/02/2002</span>
00009 <span class="comment">// Version : 1.0</span>
00010 <span class="comment">// Target MCU : Atmel AVR Series</span>
00011 <span class="comment">// Editor Tabs : 4</span>
00012 <span class="comment">//</span><span class="comment"></span>
00013 <span class="comment">/// \ingroup driver_sw</span>
00014 <span class="comment">/// \defgroup servo Interrupt-driven RC Servo Function Library (servo.c)</span>
00015 <span class="comment">/// \code #include "servo.h" \endcode</span>
00016 <span class="comment">/// \par Overview</span>
00017 <span class="comment">/// This code allows you to drive up to 8 RC servos from any</span>
00018 <span class="comment">/// combination of ports and pins on the AVR processor. Using interrupts,</span>
00019 <span class="comment">/// this code continuously sends control signals to the servo to maintain</span>
00020 <span class="comment">/// position even while your code is doing other work.</span>
00021 <span class="comment">///</span>
00022 <span class="comment">/// The servoInit and servoOff effectively turn on and turn off servo</span>
00023 <span class="comment">/// control. When you run ServoInit, it automatically assigns each</span>
00024 <span class="comment">/// "channel" of servo control to be output on the SERVO_DEFAULT_PORT.</span>
00025 <span class="comment">/// One "channel" of servo control can control one servo and must be</span>
00026 <span class="comment">/// assigned single I/O pin for output.</span>
00027 <span class="comment">///</span>
00028 <span class="comment">/// If you're using all eight channels (SERVO_NUM_CHANNELS = 8), then</span>
00029 <span class="comment">/// then by default the code will use SERVO_DEFAULT_PORT pins 0-7.</span>
00030 <span class="comment">/// If you're only using four channels, then pins 0-3 will be used by</span>
00031 <span class="comment">/// default.</span>
00032 <span class="comment">///</span>
00033 <span class="comment">/// The command servoSetChannelIO(channel, port, pin) allows you to</span>
00034 <span class="comment">/// reassign the output of any channel to any port and I/O pin you</span>
00035 <span class="comment">/// choose. For exampe, if you have an RC servo connected to PORTC, pin 6,</span>
00036 <span class="comment">/// and you wish to use channel 2 to control it, use:</span>
00037 <span class="comment">///</span>
00038 <span class="comment">/// servoSerChannelIO( 2, _SFR_IO_ADDR(PORTC), 6)</span>
00039 <span class="comment">///</span>
00040 <span class="comment">/// (NOTE: you must include the "_SRF_IO_ADDR()" part around your port)</span>
00041 <span class="comment">///</span>
00042 <span class="comment">/// The servoSetPostion and servoGetPosition commands allow you to command</span>
00043 <span class="comment">/// a given servo to your desired position. The position you request must</span>
00044 <span class="comment">/// lie between the SERVO_MIN and SERVO_MAX limit you defined.</span>
00045 <span class="comment">///</span>
00046 <span class="comment">/// \WARNING: This servo library has been tested to work without issue on</span>
00047 <span class="comment">/// several different AVR processors and with several different brands/kinds</span>
00048 <span class="comment">/// of servos. However:</span>
00049 <span class="comment">/// - Proper output duty cylces are dependent upon a user calibation and</span>
00050 <span class="comment">/// configuration.</span>
00051 <span class="comment">/// - IF YOUR SERVOS ARE EXCEPTIONALLY POWERFUL, AN ERRONEOUS OUTPUT DUTY</span>
00052 <span class="comment">/// CYCLE GENERATED FROM THIS CODE OR ANY OTHER SOURCE CAN DAMAGE YOUR</span>
00053 <span class="comment">/// SERVO'S INTERNAL DRIVER CHIP OR ITS GEARS!</span>
00054 <span class="comment">/// - I have never experienced any servo damage from erroneous control signal</span>
00055 <span class="comment">/// input, but it is possible.</span>
00056 <span class="comment"></span><span class="comment">//</span>
00057 <span class="comment">// This code is distributed under the GNU Public License</span>
00058 <span class="comment">// which can be found at http://www.gnu.org/licenses/gpl.txt</span>
00059 <span class="comment">//</span>
00060 <span class="comment">//*****************************************************************************</span>
00061
00062 <span class="preprocessor">#ifndef SERVO_H</span>
00063 <span class="preprocessor"></span><span class="preprocessor">#define SERVO_H</span>
00064 <span class="preprocessor"></span>
00065 <span class="preprocessor">#include "<a class="code" href="global_8h.html">global.h</a>"</span>
00066 <span class="preprocessor">#include "<a class="code" href="timer_8h.html">timer.h</a>"</span>
00067
00068 <span class="comment">// include configuration</span>
00069 <span class="preprocessor">#include "<a class="code" href="servoconf_8h.html">servoconf.h</a>"</span>
00070
00071 <span class="keyword">typedef</span> <span class="keyword">struct </span>struct_ServoChannel
00072 {
00073 <span class="comment">// hardware I/O port and pin for this channel</span>
00074 u08 port;
00075 u08 pin;
00076 <span class="comment">// PWM duty setting which corresponds to servo position</span>
00077 u16 duty;
00078 } ServoChannelType;
00079
00080 <span class="comment">// functions</span>
00081
00082 <span class="comment">// initializes servo system</span>
00083 <span class="comment">// You must run this to begin servo control</span>
00084 <span class="keywordtype">void</span> <a class="code" href="servo_8c.html#a4">servoInit</a>(<span class="keywordtype">void</span>);
00085
00086 <span class="comment">// turns off servo system</span>
00087 <span class="comment">// This stops controlling the servos and</span>
00088 <span class="comment">// returns control of the SERVOPORT to your code</span>
00089 <span class="keywordtype">void</span> <a class="code" href="servo_8c.html#a5">servoOff</a>(<span class="keywordtype">void</span>);
00090
00091 <span class="comment">// set the port and I/O pin you wish to use for a given channel</span>
00092 <span class="comment">// If you do not assign a port and I/O pin for a channel (ie. you don't</span>
00093 <span class="comment">// use this command) then all output will be done through the</span>
00094 <span class="comment">// SERVO_DEFAULT_PORT. See above definition of SERVO_DEFAULT_PORT.</span>
00095 <span class="keywordtype">void</span> <a class="code" href="servo_8c.html#a6">servoSetChannelIO</a>(u08 channel, u08 port, u08 pin);
00096
00097 <span class="comment">// set and get servo position on a given channel </span>
00098 <span class="comment">// servoSetPosition() commands the servo on <channel> to the position you</span>
00099 <span class="comment">// desire. The position input must lie between 0 and POSITION_MAX and</span>
00100 <span class="comment">// will be automatically scaled to raw positions between SERVO_MIN and</span>
00101 <span class="comment">// SERVO_MAX</span>
00102 <span class="comment">// servoGetPosition() returns the most recently set postition of the</span>
00103 <span class="comment">// servo on <channel>. The return value will be scaled 0->POSITION_MAX</span>
00104 <span class="keywordtype">void</span> <a class="code" href="servo_8c.html#a7">servoSetPosition</a>(u08 channel, u08 position);
00105 u08 <a class="code" href="servo_8c.html#a8">servoGetPosition</a>(u08 channel);
00106
00107 <span class="comment">// set and get raw servo position on a given channel</span>
00108 <span class="comment">// Works like non-raw commands but position is not scaled. Position must</span>
00109 <span class="comment">// be between SERVO_MIN and SERVO_MAX</span>
00110 <span class="keywordtype">void</span> <a class="code" href="servo_8c.html#a9">servoSetPositionRaw</a>(u08 channel, u16 position);
00111 u16 <a class="code" href="servo_8c.html#a10">servoGetPositionRaw</a>(u08 channel);
00112
00113 <span class="comment">// servo interrupt service routine</span>
00114 <span class="keywordtype">void</span> servoService(<span class="keywordtype">void</span>);
00115
00116 <span class="preprocessor">#endif</span>
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