A simple API/Software interface to the LPC17xx PWM peripheral to provide control to up to six RC type servo controllers.
Diff: src/SimpleRCservos.cpp
- Revision:
- 2:d6a018232650
- Parent:
- 0:c680385286e3
--- a/src/SimpleRCservos.cpp Mon May 02 18:42:16 2011 +0000 +++ b/src/SimpleRCservos.cpp Thu May 19 22:46:09 2011 +0000 @@ -1,226 +1,247 @@ - - -#include "mbed.h" -#include "SimpleRCservos.h" - -namespace AjK { - -void -SimpleRCservos::init(uint32_t duty) -{ - _duty = duty; - - for (int i = 0; i < NumOfServos; i++) { - _limitMin[i] = -1.0; - _limitMax[i] = +1.0; - - // The following would give 1ms to 2ms - setRange((Servo)i, 1000, 2000); - - // The following would give 900us to 2.1ms as required Hitec HS-322HD servo module. - //setRange((Servo)i, 900, 2100); - - // The following would give 600us to 2.4ms - //setRange((Servo)i, 600, 2400); - - _mid[i] = duty * 0.075f; // 1.5ms - - } -} - -void -SimpleRCservos::setDuty(uint32_t duty) -{ - // Ensure powered up (default is 1) - LPC_SC->PCONP |= (1UL << 6); - - // CCLK/4 = 24MHz - LPC_SC->PCLKSEL0 &= ~(3UL << 12); - - // Reset. - LPC_PWM1->TCR = 2; - - _duty = duty; - - LPC_PWM1->PR = 0; - LPC_PWM1->MR0 = _duty; - LPC_PWM1->MR1 = 0; - LPC_PWM1->MR2 = 0; - LPC_PWM1->MR3 = 0; - LPC_PWM1->MR4 = 0; - LPC_PWM1->MR5 = 0; - LPC_PWM1->MR6 = 0; - - LPC_PWM1->MCR = 2; // MR0 resets TC. - - LPC_PWM1->TCR = 9; // Enable. -} - -double -SimpleRCservos::position(Servo ch, double pos) -{ - pos = limit(ch, pos); - double a = pos - _limitMin[ch]; - double set = a / (_limitMax[ch] - _limitMin[ch]); - uint32_t ps = _msMax[ch] * set; - setMRx(ch, ps + _msMin[ch]); - return pos; -} - -void -SimpleRCservos::neutral(Servo ch) -{ - setMRx(ch, _mid[ch]); -} - -double -SimpleRCservos::limit(Servo ch, double pos) -{ - if (pos >= _limitMin[ch] && pos <= _limitMax[ch]) return pos; - if (pos < _limitMin[ch]) return _limitMin[ch]; - if (pos > _limitMax[ch]) return _limitMax[ch]; - return 0.0; // Keep the compiler happy. -} - -void -SimpleRCservos::setMRx(Servo ch, uint32_t value) -{ - switch(ch) { - case Servo1: LPC_PWM1->MR1 = value; break; - case Servo2: LPC_PWM1->MR2 = value; break; - case Servo3: LPC_PWM1->MR3 = value; break; - case Servo4: LPC_PWM1->MR4 = value; break; - case Servo5: LPC_PWM1->MR5 = value; break; - case Servo6: LPC_PWM1->MR6 = value; break; - } - LPC_PWM1->LER |= (1UL << ch); -} - -void -SimpleRCservos::enable(Servo ch) -{ - switch(ch) { - case 1: enable1(); break; - case 2: enable2(); break; - case 3: enable3(); break; - case 4: enable4(); break; - case 5: enable5(); break; - case 6: enable6(); break; - } -} - -void -SimpleRCservos::enable1(PinName pin) -{ - setMRx(Servo1, _mid[1]); - - switch(pin) { - case P2_0: - LPC_PINCON->PINSEL4 &= ~(3UL << 0); // Mbed p26 P2.0 clr bits - LPC_PINCON->PINSEL4 |= (1UL << 0); // Mbed p26 P2.0 set bits - break; - case P1_18: // Mbed LED1 - LPC_PINCON->PINSEL3 &= ~(3UL << 4); // Mbed LED2 P1.18 clr bits - LPC_PINCON->PINSEL3 |= (2UL << 4); // Mbed LED2 P1.18 set bits - break; - } - - LPC_PWM1->PCR |= (1UL << 9); -} - -void -SimpleRCservos::enable2(PinName pin) -{ - setMRx(Servo2, _mid[2]); - - switch(pin) { - case P2_1: - LPC_PINCON->PINSEL4 &= ~(3UL << 2); // Mbed p25 P2.1 clr bits - LPC_PINCON->PINSEL4 |= (1UL << 2); // Mbed p25 P2.1 set bits - break; - case P1_20: // Mbed LED2 - LPC_PINCON->PINSEL3 &= ~(3UL << 8); // Mbed LED2 P1.20 clr bits - LPC_PINCON->PINSEL3 |= (2UL << 8); // Mbed LED2 P1.20 set bits - break; - } - - LPC_PWM1->PCR |= (1UL << 10); -} - -void -SimpleRCservos::enable3(PinName pin) -{ - setMRx(Servo3, _mid[3]); - - switch(pin) { - case P2_2: - LPC_PINCON->PINSEL4 &= ~(3UL << 4); // Mbed p24 P2.2 clr bits - LPC_PINCON->PINSEL4 |= (1UL << 4); // Mbed p24 P2.2 set bits - break; - case P1_21: // Mbed LED3 - LPC_PINCON->PINSEL3 &= ~(3UL << 10); // Mbed LED3 P1.21 clr bits - LPC_PINCON->PINSEL3 |= (2UL << 10); // Mbed LED3 P1.21 set bits - break; - } - - LPC_PWM1->PCR |= (1UL << 11); -} - -void -SimpleRCservos::enable4(PinName pin) -{ - setMRx(Servo4, _mid[4]); - - switch(pin) { - case P2_3: - LPC_PINCON->PINSEL4 &= ~(3UL << 6); // Mbed p23 P2.3 clr bits - LPC_PINCON->PINSEL4 |= (1UL << 6); // Mbed p23 P2.3 set bits - break; - case P1_23: // Mbed LED4 - LPC_PINCON->PINSEL3 &= ~(3UL << 14); // Mbed LED4 P1.23 clr bits - LPC_PINCON->PINSEL3 |= (2UL << 14); // Mbed LED4 P1.23 set bits - break; - } - - LPC_PWM1->PCR |= (1UL << 12); -} - -void -SimpleRCservos::enable5(PinName pin) -{ - setMRx(Servo5, _mid[5]); - - switch(pin) { - case P2_4: // Mbed p22 - LPC_PINCON->PINSEL4 &= ~(3UL << 8); // Mbed p22 P2.4 clr bits - LPC_PINCON->PINSEL4 |= (1UL << 8); // Mbed p22 P2.4 set bits - break; - case P1_24: - LPC_PINCON->PINSEL3 &= ~(3UL << 16); // P1.24 clr bits - LPC_PINCON->PINSEL3 |= (2UL << 16); // P1.24 set bits - break; - } - - LPC_PWM1->PCR |= (1UL << 13); -} - -void -SimpleRCservos::enable6(PinName pin) -{ - setMRx(Servo6, _mid[6]); - - switch(pin) { - case P2_5: // Mbed p21 - LPC_PINCON->PINSEL4 &= ~(3UL << 10); // Mbed p21 P2.5 clr bits - LPC_PINCON->PINSEL4 |= (1UL << 10); // Mbed p21 P2.5 set bits - break; - case P1_26: - LPC_PINCON->PINSEL3 &= ~(3UL << 20); // P1.26 clr bits - LPC_PINCON->PINSEL3 |= (2UL << 20); // P1.26 set bits - break; - } - - LPC_PWM1->PCR |= (1UL << 14); -} - -}; // namespace AjK ends. +/* + Copyright (c) 2011 Andy Kirkham + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in + all copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + THE SOFTWARE. +*/ + + +#include "mbed.h" +#include "SimpleRCservos.h" + +namespace AjK { + +void +SimpleRCservos::init(uint32_t duty) +{ + _duty = duty; + + for (int i = 0; i < NumOfServos; i++) { + _limitMin[i] = -1.0; + _limitMax[i] = +1.0; + + // The following would give 1ms to 2ms + setRange((Servo)i, 1000, 2000); + + // The following would give 900us to 2.1ms as required Hitec HS-322HD servo module. + //setRange((Servo)i, 900, 2100); + + // The following would give 600us to 2.4ms + //setRange((Servo)i, 600, 2400); + + _mid[i] = duty * 0.075f; // 1.5ms + + } +} + +void +SimpleRCservos::setDuty(uint32_t duty) +{ + // Ensure powered up (default is 1) + LPC_SC->PCONP |= (1UL << 6); + + // CCLK/4 = 24MHz + LPC_SC->PCLKSEL0 &= ~(3UL << 12); + + // Reset. + LPC_PWM1->TCR = 2; + + _duty = duty; + + LPC_PWM1->PR = 0; + LPC_PWM1->MR0 = _duty; + LPC_PWM1->MR1 = 0; + LPC_PWM1->MR2 = 0; + LPC_PWM1->MR3 = 0; + LPC_PWM1->MR4 = 0; + LPC_PWM1->MR5 = 0; + LPC_PWM1->MR6 = 0; + + LPC_PWM1->MCR = 2; // MR0 resets TC. + + LPC_PWM1->TCR = 9; // Enable. +} + +double +SimpleRCservos::position(Servo ch, double pos) +{ + pos = limit(ch, pos); + double a = pos - _limitMin[ch]; + double set = a / (_limitMax[ch] - _limitMin[ch]); + uint32_t ps = _msMax[ch] * set; + setMRx(ch, ps + _msMin[ch]); + return pos; +} + +void +SimpleRCservos::neutral(Servo ch) +{ + setMRx(ch, _mid[ch]); +} + +double +SimpleRCservos::limit(Servo ch, double pos) +{ + if (pos >= _limitMin[ch] && pos <= _limitMax[ch]) return pos; + if (pos < _limitMin[ch]) return _limitMin[ch]; + if (pos > _limitMax[ch]) return _limitMax[ch]; + return 0.0; // Keep the compiler happy. +} + +void +SimpleRCservos::setMRx(Servo ch, uint32_t value) +{ + switch(ch) { + case Servo1: LPC_PWM1->MR1 = value; break; + case Servo2: LPC_PWM1->MR2 = value; break; + case Servo3: LPC_PWM1->MR3 = value; break; + case Servo4: LPC_PWM1->MR4 = value; break; + case Servo5: LPC_PWM1->MR5 = value; break; + case Servo6: LPC_PWM1->MR6 = value; break; + } + LPC_PWM1->LER |= (1UL << ch); +} + +void +SimpleRCservos::enable(Servo ch) +{ + switch(ch) { + case 1: enable1(); break; + case 2: enable2(); break; + case 3: enable3(); break; + case 4: enable4(); break; + case 5: enable5(); break; + case 6: enable6(); break; + } +} + +void +SimpleRCservos::enable1(PinName pin) +{ + setMRx(Servo1, _mid[1]); + + switch(pin) { + case P2_0: + LPC_PINCON->PINSEL4 &= ~(3UL << 0); // Mbed p26 P2.0 clr bits + LPC_PINCON->PINSEL4 |= (1UL << 0); // Mbed p26 P2.0 set bits + break; + case P1_18: // Mbed LED1 + LPC_PINCON->PINSEL3 &= ~(3UL << 4); // Mbed LED2 P1.18 clr bits + LPC_PINCON->PINSEL3 |= (2UL << 4); // Mbed LED2 P1.18 set bits + break; + } + + LPC_PWM1->PCR |= (1UL << 9); +} + +void +SimpleRCservos::enable2(PinName pin) +{ + setMRx(Servo2, _mid[2]); + + switch(pin) { + case P2_1: + LPC_PINCON->PINSEL4 &= ~(3UL << 2); // Mbed p25 P2.1 clr bits + LPC_PINCON->PINSEL4 |= (1UL << 2); // Mbed p25 P2.1 set bits + break; + case P1_20: // Mbed LED2 + LPC_PINCON->PINSEL3 &= ~(3UL << 8); // Mbed LED2 P1.20 clr bits + LPC_PINCON->PINSEL3 |= (2UL << 8); // Mbed LED2 P1.20 set bits + break; + } + + LPC_PWM1->PCR |= (1UL << 10); +} + +void +SimpleRCservos::enable3(PinName pin) +{ + setMRx(Servo3, _mid[3]); + + switch(pin) { + case P2_2: + LPC_PINCON->PINSEL4 &= ~(3UL << 4); // Mbed p24 P2.2 clr bits + LPC_PINCON->PINSEL4 |= (1UL << 4); // Mbed p24 P2.2 set bits + break; + case P1_21: // Mbed LED3 + LPC_PINCON->PINSEL3 &= ~(3UL << 10); // Mbed LED3 P1.21 clr bits + LPC_PINCON->PINSEL3 |= (2UL << 10); // Mbed LED3 P1.21 set bits + break; + } + + LPC_PWM1->PCR |= (1UL << 11); +} + +void +SimpleRCservos::enable4(PinName pin) +{ + setMRx(Servo4, _mid[4]); + + switch(pin) { + case P2_3: + LPC_PINCON->PINSEL4 &= ~(3UL << 6); // Mbed p23 P2.3 clr bits + LPC_PINCON->PINSEL4 |= (1UL << 6); // Mbed p23 P2.3 set bits + break; + case P1_23: // Mbed LED4 + LPC_PINCON->PINSEL3 &= ~(3UL << 14); // Mbed LED4 P1.23 clr bits + LPC_PINCON->PINSEL3 |= (2UL << 14); // Mbed LED4 P1.23 set bits + break; + } + + LPC_PWM1->PCR |= (1UL << 12); +} + +void +SimpleRCservos::enable5(PinName pin) +{ + setMRx(Servo5, _mid[5]); + + switch(pin) { + case P2_4: // Mbed p22 + LPC_PINCON->PINSEL4 &= ~(3UL << 8); // Mbed p22 P2.4 clr bits + LPC_PINCON->PINSEL4 |= (1UL << 8); // Mbed p22 P2.4 set bits + break; + case P1_24: + LPC_PINCON->PINSEL3 &= ~(3UL << 16); // P1.24 clr bits + LPC_PINCON->PINSEL3 |= (2UL << 16); // P1.24 set bits + break; + } + + LPC_PWM1->PCR |= (1UL << 13); +} + +void +SimpleRCservos::enable6(PinName pin) +{ + setMRx(Servo6, _mid[6]); + + switch(pin) { + case P2_5: // Mbed p21 + LPC_PINCON->PINSEL4 &= ~(3UL << 10); // Mbed p21 P2.5 clr bits + LPC_PINCON->PINSEL4 |= (1UL << 10); // Mbed p21 P2.5 set bits + break; + case P1_26: + LPC_PINCON->PINSEL3 &= ~(3UL << 20); // P1.26 clr bits + LPC_PINCON->PINSEL3 |= (2UL << 20); // P1.26 set bits + break; + } + + LPC_PWM1->PCR |= (1UL << 14); +} + +}; // namespace AjK ends.