File content as of revision 3:1232505e7206:

/*
    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.