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@ -52,14 +52,14 @@ uint8_t ServoCount; //=0 |
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#define TAU_USEC (TAU_MSEC * 1000) |
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#define TAU_CYC (TAU_MSEC * CYC_MSEC) |
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#define SERVO_PRESCALER (TAU_CYC / MAX_OVERFLOW + 1) |
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#define SERVO_OVERFLOW ((uint16)round((double)TAU_CYC / SERVO_PRESCALER)) |
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#define SERVO_OVERFLOW ((uint16_t)round((double)TAU_CYC / SERVO_PRESCALER)) |
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// Unit conversions
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#define US_TO_COMPARE(us) ((uint16)map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW)) |
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#define COMPARE_TO_US(c) ((uint32)map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC)) |
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#define ANGLE_TO_US(a) ((uint16)(map((a), this->minAngle, this->maxAngle, \ |
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#define US_TO_COMPARE(us) ((uint16_t)map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW)) |
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#define COMPARE_TO_US(c) ((uint32_t)map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC)) |
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#define ANGLE_TO_US(a) ((uint16_t)(map((a), this->minAngle, this->maxAngle, \ |
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SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW))) |
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#define US_TO_ANGLE(us) ((int16)(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, \ |
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#define US_TO_ANGLE(us) ((int16_t)(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, \ |
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this->minAngle, this->maxAngle))) |
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libServo::libServo() { |
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@ -74,7 +74,7 @@ bool libServo::attach(const int32_t pin, const int32_t minAngle, const int32_t m |
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this->maxAngle = maxAngle; |
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timer_dev *tdev = PIN_MAP[this->pin].timer_device; |
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uint8 tchan = PIN_MAP[this->pin].timer_channel; |
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uint8_t tchan = PIN_MAP[this->pin].timer_channel; |
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pinMode(this->pin, PWM); |
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pwmWrite(this->pin, 0); |
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@ -97,7 +97,7 @@ bool libServo::detach() { |
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int32_t libServo::read() const { |
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if (this->attached()) { |
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timer_dev *tdev = PIN_MAP[this->pin].timer_device; |
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uint8 tchan = PIN_MAP[this->pin].timer_channel; |
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uint8_t tchan = PIN_MAP[this->pin].timer_channel; |
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return US_TO_ANGLE(COMPARE_TO_US(timer_get_compare(tdev, tchan))); |
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} |
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return 0; |
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