Revision 0:c680385286e3, committed 2011-05-02

Comitter:

AjK

Date:

Mon May 02 18:38:45 2011 +0000

Child:

1:fbb8acf19e77

Commit message:

1.0 See ChangeLog.h

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/ChangeLog.h	Mon May 02 18:38:45 2011 +0000
@@ -0,0 +1,9 @@
+/*
+
+SimpleRCservos change log history.
+==================================
+
+1.0     2/May/2011
+    * Initial release.
+
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/SimpleRCmbed.h	Mon May 02 18:38:45 2011 +0000
@@ -0,0 +1,85 @@
+/****************************************************************************
+ * Product: LIB17 Open Source Library
+ *
+ *                    Steller Technologies Limited
+ *                    ----------------------------
+ *
+ * Copyright (C) 2002-2011 Steller Technologies Limited. All rights reserved.
+ *
+ * This software may be distributed and modified under the terms of the GNU
+ * General Public License version 2 (GPL) as published by the Free Software
+ * Foundation and appearing in the file GPL.TXT included in the packaging of
+ * this file. Please note that GPL Section 2[b] requires that all works based
+ * on this software must also be made publicly available under the terms of
+ * the GPL ("Copyleft").
+ *
+ * Alternatively, this software may be distributed and modified under the
+ * terms of Steller Technologies Limited commercial licenses, which expressly
+ * supersede the GPL and are specifically designed for licensees interested in
+ * retaining the proprietary status of their code.
+ *
+ ***************************************************************************/
+
+#ifndef AJK_SIMPLERCMBED_H
+#define AJK_SIMPLERCMBED_H
+
+#ifndef MBED_PINNAMES_H
+#define MBED_PINNAMES_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef enum {
+    P0_0 = LPC_GPIO0_BASE, P0_1, P0_2, P0_3, P0_4, P0_5, P0_6, P0_7
+            , P0_8, P0_9, P0_10, P0_11, P0_12, P0_13, P0_14, P0_15
+            , P0_16, P0_17, P0_18, P0_19, P0_20, P0_21, P0_22, P0_23
+            , P0_24, P0_25, P0_26, P0_27, P0_28, P0_29, P0_30, P0_31
+            , P1_0, P1_1, P1_2, P1_3, P1_4, P1_5, P1_6, P1_7
+            , P1_8, P1_9, P1_10, P1_11, P1_12, P1_13, P1_14, P1_15
+            , P1_16, P1_17, P1_18, P1_19, P1_20, P1_21, P1_22, P1_23
+            , P1_24, P1_25, P1_26, P1_27, P1_28, P1_29, P1_30, P1_31
+            , P2_0, P2_1, P2_2, P2_3, P2_4, P2_5, P2_6, P2_7
+            , P2_8, P2_9, P2_10, P2_11, P2_12, P2_13, P2_14, P2_15
+            , P2_16, P2_17, P2_18, P2_19, P2_20, P2_21, P2_22, P2_23
+            , P2_24, P2_25, P2_26, P2_27, P2_28, P2_29, P2_30, P2_31
+            , P3_0, P3_1, P3_2, P3_3, P3_4, P3_5, P3_6, P3_7
+            , P3_8, P3_9, P3_10, P3_11, P3_12, P3_13, P3_14, P3_15
+            , P3_16, P3_17, P3_18, P3_19, P3_20, P3_21, P3_22, P3_23
+            , P3_24, P3_25, P3_26, P3_27, P3_28, P3_29, P3_30, P3_31
+            , P4_0, P4_1, P4_2, P4_3, P4_4, P4_5, P4_6, P4_7
+            , P4_8, P4_9, P4_10, P4_11, P4_12, P4_13, P4_14, P4_15
+            , P4_16, P4_17, P4_18, P4_19, P4_20, P4_21, P4_22, P4_23
+            , P4_24, P4_25, P4_26, P4_27, P4_28, P4_29, P4_30, P4_31
+
+            // Mbed DIP Pin Names
+            , p5 = P0_9, p6 = P0_8, p7 = P0_7, p8 = P0_6, p9 = P0_0, p10 = P0_1
+            , p11 = P0_18, p12 = P0_17, p13 = P0_15, p14 = P0_16, p15 = P0_23
+            , p16 = P0_24, p17 = P0_25, p18 = P0_26, p19 = P1_30, p20 = P1_31
+            , p21 = P2_5, p22 = P2_4, p23 = P2_3, p24 = P2_2, p25 = P2_1
+            , p26 = P2_0, p27 = P0_11, p28 = P0_10, p29 = P0_5, p30 = P0_4
+
+            // Other Mbed Pin Names
+            , LED1 = P1_18, LED2 = P1_20, LED3 = P1_21, LED4 = P1_23
+            , USBTX = P0_2, USBRX = P0_3
+
+            // Not connected
+            , NC = (int)0xFFFFFFFF
+
+} PinName;
+
+typedef enum {
+    PullUp = 0
+    , Repeater = 1
+    , PullNone = 2
+    , PullDown = 3
+    , OpenDrain = 4
+} PinMode;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MBED_PINNAMES_H */
+
+#endif /* AJK_SIMPLERCMBED_H */

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/SimpleRCservos.h	Mon May 02 18:38:45 2011 +0000
@@ -0,0 +1,247 @@
+/*
+    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.
+*/
+
+#ifndef AJK_SIMPLERCSERVOS_H
+#define AJK_SIMPLERCSERVOS_H
+
+#include "LPC17xx.h"
+#include "SimpleRCmbed.h"
+
+namespace AjK {
+
+class SimpleRCservos {
+
+public:
+    enum Servo { NoServo0, Servo1, Servo2, Servo3, Servo4, Servo5, Servo6, NumOfServos  };
+    
+protected:
+    PinName _pinName;
+    
+    uint32_t _duty;
+    
+    uint32_t _mid[NumOfServos];
+    
+    double _limitMax[NumOfServos];
+    
+    double _limitMin[NumOfServos];
+    
+    uint32_t _msMin[NumOfServos];
+    
+    uint32_t _msMax[NumOfServos];
+            
+    void init(uint32_t duty);
+       
+    void setRangeMin(Servo ch, uint32_t u) { _msMin[ch] = u * 24; }
+    
+    void setRangeMax(Servo ch, uint32_t u) { _msMax[ch] = (u * 24) - _msMin[ch]; }
+        
+    void setMRx(Servo ch, uint32_t value);
+    
+    double limit(Servo ch, double degrees);
+                
+public:
+
+    /** Constructor
+     */
+    SimpleRCservos() { init(480000UL); setDuty(); }
+
+    /** setDuty
+     * 
+     * Set's the duty, or period, of the PWM pulses.
+     * The default is 20ms and the parameter passed in is the 
+     * number of "clock ticks" that represents the period.
+     * 480000 gives rise to 20ms by default. It's rare that
+     * you would alter this value. Remember, with the PWM
+     * peripheral there is only a single, common,  period for 
+     * all six PWM outputs.
+     *
+     * @param duty The number of "clock ticks" for the duty cycle.
+     */
+    void setDuty(uint32_t duty = 480000);
+    
+    /** enable1
+     * 
+     * Enable PWM channel 1.
+     *
+     * @param PinName p26(P2_0) or LED1(P1_18)
+     */
+    void enable1(PinName pin = p26);
+    
+    /** enable2
+     * 
+     * Enable PWM channel 2.
+     *
+     * @param PinName p25(P2_1) or LED2(P1_20)
+     */
+    void enable2(PinName pin = p25);
+    
+    /** enable3
+     * 
+     * Enable PWM channel 3.
+     *
+     * @param PinName p24(P2_2) or LED3(P1_21)
+     */
+    void enable3(PinName pin = p24);
+    
+    /** enable4
+     * 
+     * Enable PWM channel 4.
+     *
+     * @param PinName p23(P2_3) or LED4(P1_23)
+     */
+    void enable4(PinName pin = p23);
+    
+    /** enable5
+     *
+     * Enable PWM channel 5.
+     *
+     * @param PinName p22(P2_4) or P1_24
+     */
+    void enable5(PinName pin = p22);
+    
+    /** enable6
+     *
+     * Enable PWM channel 6.
+     *
+     * @param PinName p21(P2_5) or P1_26
+     */
+    void enable6(PinName pin = p21);
+    
+    /** enable
+     *
+     * Enable the specified channel. The default pin on port 2 is assumed.
+     *
+     * @param Servo The channel to enable, Servo1 to Servo6
+     */
+    void enable(Servo ch);
+    
+    /** setLimitMin
+     * 
+     * Set the minimum logical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @param double The lower logical limit.
+     */
+    void setLimitMin(Servo ch, double d) { _limitMin[ch] = d; }
+    
+    /** getLimitMin
+     * 
+     * Get the minimum logical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @return double The lower logical limit.
+     */
+    double getlimitMin(Servo ch)   { return _limitMin[ch]; }
+    
+    /** setLimitMax
+     * 
+     * Set the maximum logical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @param double The upper logical limit.
+     */
+    void setLimitMax(Servo ch, double d) { _limitMax[ch] = d; }
+    
+    /** getLimitMax
+     * 
+     * Get the maximum logical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @return double The upper logical limit.
+     */
+    double getLimitMax(Servo ch)   { return _limitMax[ch]; }
+    
+    /** setLimits
+     *
+     * Set the logical upper and lower limits for channel.
+     *
+     * @param Servo channel
+     * @param double The minimum logical limit
+     * @param double The maximum logical limit
+     */
+    void setLimits(Servo ch, double min, double max) { 
+        _limitMin[ch] = min; 
+        _limitMax[ch] = max; 
+    }
+    
+    /** getRangeMin
+     * 
+     * Set the minimum physical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @param double The lower phyiscal limit in microseconds
+     */
+    uint32_t getRangeMin(Servo ch, uint32_t u) { return _msMin[ch] / 24; }
+    
+    /** getRangeMax
+     * 
+     * Set the maximum physical limit for the specified channel.
+     *
+     * @param Servo channel
+     * @param uint32 The upper phyiscal limit in microseconds
+     */
+    uint32_t getRangeMax(Servo ch, uint32_t u) { return (_msMax[ch] / 24) + _msMin[ch]; }
+    
+    /** setRange
+     * 
+     * Set the minimum and maximum physical limits for the specified channel.
+     *
+     * @param Servo channel
+     * @param uint32 The lower phyiscal limit in microseconds
+     * @param uint32 The upper phyiscal limit in microseconds
+     */
+    void setRange(Servo ch, uint32_t min, uint32_t max) { 
+        setRangeMin(ch, min);
+        setRangeMax(ch, max);
+    }
+    
+    /** position
+     *
+     * Set the desired position of the servo.
+     * This value should be between the lower and upper logical limits.
+     *
+     * Under normal circumstances this fuction returns the same position is 
+     * was supplied. However, if the supplied position is outside the logical
+     * system limits we return the value we actually went to. This is almost
+     * always the value of the logical limit that is set for that direction.
+     *
+     * @param Servo channel
+     * @param double the logical position to move to.
+     * @return double The actual calculated position moved to.
+     */
+    double position(Servo ch, double degrees);
+    
+    /** neutral
+     *
+     * Tell the servo to move to it's neutral position (1.5ms pulse width)
+     *
+     * @param Servo channel
+     */
+    void neutral(Servo ch);
+    
+}; // class RCservo ends.
+
+}; // namespace AjK ends.
+
+using namespace AjK;
+
+#endif /* AJK_SIMPLERCSERVOS_H */

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/example1.h	Mon May 02 18:38:45 2011 +0000
@@ -0,0 +1,67 @@
+
+
+#include "mbed.h"
+#include "SimpleRCservos.h"
+
+#define N_90 -90.0
+#define P_90 +90.0
+
+SimpleRCservos servos;
+
+int main() {
+    double position = 0;
+
+    // The default scaling range is -1.0 to +1.0
+    // Alter the scaling range to -90.0 to +90.0
+    servos.setLimits(SimpleRCservos::Servo6, N_90, P_90); // Mbed p21
+    servos.setLimits(SimpleRCservos::Servo5, N_90, P_90); // Mbed p22
+    servos.setLimits(SimpleRCservos::Servo4, N_90, P_90); // Mbed p23
+    
+    // The default range is 1ms to 2ms with 1.5ms being the neutral.
+    // This line isn't actually needed as 1ms/2ms is the library's 
+    // default but is included here to show how altering it may be
+    // achieved.
+    servos.setRange(SimpleRCservos::Servo6, 1000, 2000); // Servo4 uses p21
+    
+    // Add a servo pulse range, 900us to 2.1ms, neutral 1.5ms.
+    servos.setRange(SimpleRCservos::Servo5, 900, 2100); // Servo4 uses p22
+    
+    // Add a servo pulse range, 600us to 2.4ms, neutral 1.5ms.
+    servos.setRange(SimpleRCservos::Servo4, 600, 2400); // Servo4 uses p23
+    
+    // Enable the Servo (starts producing pulses).
+    servos.enable(SimpleRCservos::Servo6);
+    servos.enable(SimpleRCservos::Servo5);
+    servos.enable(SimpleRCservos::Servo4);
+    
+    while(1) {
+        
+        // Slide up to max
+        for(position = 0; position < P_90; position += 0.1) {
+            servos.position(SimpleRCservos::Servo6, position);
+            servos.position(SimpleRCservos::Servo5, position);
+            servos.position(SimpleRCservos::Servo4, position);
+            wait(0.005);
+        }
+        wait(2);
+        
+        // Slide down to min
+        for(position = P_90; position > N_90; position -= 0.1) {
+            servos.position(SimpleRCservos::Servo6, position);
+            servos.position(SimpleRCservos::Servo5, position);
+            servos.position(SimpleRCservos::Servo4, position);
+            wait(0.005);
+        }
+        wait(2);
+        
+        // Slide back up to neutral
+        for(position = N_90; position < 0; position += 0.1) {
+            servos.position(SimpleRCservos::Servo6, position);
+            servos.position(SimpleRCservos::Servo5, position);
+            servos.position(SimpleRCservos::Servo4, position);
+            wait(0.005);
+        }
+        wait(2); 
+    }       
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/SimpleRCservos.cpp	Mon May 02 18:38:45 2011 +0000
@@ -0,0 +1,226 @@
+
+
+#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.