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| Rev | Author | Line No. | Line |
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| 1198 | - | 1 | /*********************************************************************/ |
| 2 | /* */ |
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| 3 | /* NG-Video 5,8GHz */ |
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| 4 | /* */ |
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| 5 | /* Copyright (C) 2011 - gebad */ |
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| 6 | /* */ |
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| 7 | /* This code is distributed under the GNU Public License */ |
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| 8 | /* which can be found at http://www.gnu.org/licenses/gpl.txt */ |
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| 9 | /* */ |
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| 10 | /* using */ |
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| 11 | /*! \file servo.c \brief Interrupt-driven RC Servo function library. */ |
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| 12 | /* */ |
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| 13 | /*File Name : 'servo.c' */ |
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| 14 | /*Title : Interrupt-driven RC Servo function library */ |
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| 15 | /*Author : Pascal Stang - Copyright (C) 2002 */ |
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| 16 | /*Created : 7/31/2002 */ |
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| 17 | /*Revised : 8/02/2002 */ |
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| 18 | /*Version : 1.0 */ |
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| 19 | /*Target MCU : Atmel AVR Series */ |
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| 20 | /*Editor Tabs : 4 */ |
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| 21 | /* */ |
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| 22 | /*ingroup driver_sw */ |
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| 23 | /*defgroup servo Interrupt-driven RC Servo Function Library (servo.c)*/ |
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| 24 | /*code #include "servo.h" \endcode */ |
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| 25 | /*par Overview */ |
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| 26 | /* */ |
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| 27 | /*This code is distributed under the GNU Public License */ |
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| 28 | /*which can be found at http://www.gnu.org/licenses/gpl.txt */ |
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| 29 | /* */ |
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| 30 | /*********************************************************************/ |
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| 31 | |||
| 32 | #ifndef SERVO_H |
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| 33 | #define SERVO_H |
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| 34 | |||
| 35 | // The numbers below good for parallax servos at an F_CPU of 20.000MHz. |
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| 36 | // Da einige Servo's auch eien Winkel von 180 grd zulassen, Wertebereich |
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| 37 | // entgegen den sonst üblichen. Einschränkung mit default Kalibrierung |
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| 38 | // auf 0,9ms (45) bis 2,1ms(45) gesetzt. Je nach Servo, entspricht einen |
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| 39 | // Winkel von etwa 180grd |
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| 40 | // Periode default 20ms |
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| 41 | |||
| 42 | #define SERVO_MAX 211 // 2,7 ms bei prescaler 256, bei prescaler 64 SERVO_MAX * 4 |
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| 43 | #define SERVO_MIN 26 // 0,33ms bei prescaler 256, bei prescaler 64 SERVO_MIN * 4 |
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| 44 | #define SERVO_STEPS 255 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle |
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| 45 | #define SERVO_PRESCALER 256 // bei prescaler 256, bei prescaler 64 SERVO_PRESCALER / 4 |
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| 46 | #define STEPS_255 0 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle |
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| 47 | #define STEPS_1023 1 // Servo-Schritte von links nach rechts, Anschlagkalibrierung spielt keine Rolle |
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| 48 | |||
| 49 | typedef struct //Servo-Konstante je nach Prescaler |
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| 50 | { |
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| 51 | uint16_t max; |
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| 52 | uint16_t min; |
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| 53 | uint16_t steps; |
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| 54 | uint16_t prescaler; |
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| 55 | } ServoConst_t; |
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| 56 | |||
| 57 | typedef struct //struct_ServoChannel |
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| 58 | { |
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| 59 | uint8_t pin; // hardware I/O port and pin for this channel |
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| 60 | uint16_t duty; // PWM duty setting which corresponds to servo position |
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| 61 | uint8_t rev; // Parameter, wie on/off; reverse; range |
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| 62 | uint16_t min; // SERVO_MIN + Parameter min |
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| 63 | uint16_t max; // SERVO_MAX - Parameter max |
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| 64 | uint16_t mid_scaled; // skalierte Servomitte |
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| 65 | int16_t mid; // Servomitte = SERVO_STEPS/2 +/- x Schritte; bei Pescaler 256 wird nur uint8_t benötigt aber bei 64 |
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| 66 | } ServoChannelType; |
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| 67 | |||
| 68 | uint8_t sIdxSteps; // 0 für 255 und 1 für 1023 Schritte; Prescaler 256 oder 64 |
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| 69 | |||
| 70 | // functions |
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| 71 | |||
| 72 | // initializes servo system |
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| 73 | // You must run this to begin servo control |
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| 74 | void servoInit(uint8_t servo_period); |
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| 75 | |||
| 76 | // turns off servo system |
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| 77 | // This stops controlling the servos and |
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| 78 | // returns control of the SERVOPORT to your code |
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| 79 | void servoOff(void); |
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| 80 | |||
| 81 | // set servo position on a given channel |
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| 82 | // servoSetPosition() commands the servo on <channel> to the position you |
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| 83 | // desire. The position input must lie between 0 and POSITION_MAX and |
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| 84 | // will be automatically scaled to raw positions between SERVO_MIN and |
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| 85 | // SERVO_MAX |
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| 86 | void servoSetPosition(uint8_t channel, uint16_t position); |
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| 87 | |||
| 88 | // set raw servo position on a given channel |
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| 89 | // Works like non-raw commands but position is not scaled. Position must |
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| 90 | // be between SERVO_MIN and SERVO_MAX |
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| 91 | void servoSetPositionRaw(uint8_t channel, uint16_t position); |
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| 92 | // vor servoInit(), oder vor sei() ServoWerte mit servoSet...() initialisieren, einschließlich servoSetPosition(...)! |
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| 93 | void servoSet_rev(uint8_t channel, uint8_t val); |
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| 94 | void servoSet_min(uint8_t channel, uint16_t min); |
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| 95 | void servoSet_max(uint8_t channel, uint16_t max); |
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| 96 | void servoSet_mid(uint8_t channel, uint16_t mid); |
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| 97 | uint16_t pw_us(uint16_t Steps); // gibt Zeit in µs bei x Servoschritte |
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| 98 | uint16_t ServoSteps(void); // gibt "Konstante" derzeitiger Servoschritte zürück |
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| 99 | |||
| 100 | #endif /* SERVO_H */ |