MHVLib  20111011
An efficiency oriented runtime library for AVR microcontrollers
A:/eclipse/mhvlib/MHV_ServoControl.h
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00001 /*
00002  * Copyright (c) 2011, Make, Hack, Void Inc
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *  * Redistributions of source code must retain the above copyright
00008  *    notice, this list of conditions and the following disclaimer.
00009  *  * Redistributions in binary form must reproduce the above copyright
00010  *    notice, this list of conditions and the following disclaimer in the
00011  *    documentation and/or other materials provided with the distribution.
00012  *  * Neither the name of the Make, Hack, Void nor the
00013  *    names of its contributors may be used to endorse or promote products
00014  *    derived from this software without specific prior written permission.
00015  *
00016  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019  * DISCLAIMED. IN NO EVENT SHALL MAKE, HACK, VOID BE LIABLE FOR ANY
00020  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025  * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 
00029 #ifndef MHV_SERVOCONTROL_H_
00030 #define MHV_SERVOCONTROL_H_
00031 
00032 #include <MHV_Timer16.h>
00033 
00034 #ifdef MHV_TIMER16_1
00035 
00036 // 1ms in timer ticks
00037 #define MHV_SERVO_MIN   (F_CPU / (1000L))
00038 // 2ms in timer ticks
00039 #define MHV_SERVO_MAX   ((F_CPU * 2) / (1000L))
00040 
00041 #define MHV_MAX_SERVO_COUNT     254
00042 
00043 #define MHV_SERVOCONTROL_DECLARE_TRIGGER(mhvTimer16,mhvServo) \
00044 void mhvServo##Trigger(void *data) { \
00045         mhvServo.refreshServos(data);\
00046 }
00047 
00048 #define MHV_SERVOCONTROL_ASSIGN_TRIGGER(mhvTimer16,mhvServo) \
00049                 mhvTimer16.setTriggers(&(mhvServo##Trigger), 0, 0, 0, 0, 0)
00050 
00051 /* The servoOrder member is not really part of the control block, but instead is an easy way
00052  * to have an array of N things we can use to specify the order the servos should be serviced
00053  */
00054 struct MHV_ServoControlBlock {
00055         volatile uint8_t        *port;
00056         uint8_t                         pin;
00057         uint16_t                        position;
00058         int16_t                         clockMinOffset;
00059         int16_t                         clockMaxOffset;
00060         uint8_t                         servoOrder; // This isn't really a member of the control structure
00061 };
00062 typedef struct MHV_ServoControlBlock MHV_SERVOCONTROLBLOCK;
00063 
00064 class MHV_ServoControl {
00065 private:
00066         MHV_Timer16                     *_timer;
00067         MHV_SERVOCONTROLBLOCK   *_controlBlocks;
00068         uint8_t                                 _count;
00069         volatile uint8_t                _nextServoIndex;
00070 
00071         void sortServos();
00072 
00073 public:
00074         MHV_ServoControl(MHV_Timer16 *timer, MHV_SERVOCONTROLBLOCK *controlBlocks, uint8_t count);
00075         void addServo(uint8_t servo, volatile uint8_t *dir, volatile uint8_t *out, volatile uint8_t *in, uint8_t pin, int8_t pinchangeInterrupt);
00076         void tweakServo(uint8_t servo, int8_t minOffset, int8_t maxOffset);
00077         void positionServo(uint8_t servo, uint16_t position);
00078         bool canPosition();
00079         void positionServoBusyWait(uint8_t servo, uint16_t position);
00080         void refreshServos(void *data);
00081         void enable();
00082         void disable();
00083 };
00084 
00085 #endif
00086 
00087 #endif /* MHV_SERVOCONTROL_H_ */