Merge pull request #62 from DCC-EX:add-servo-superpin

Add-servo-superpin

EX-IOExpander.ino

@@ -153,10 +153,11 @@ void loop() {
     processInputs();
     outputTestState = processOutputTest(outputTestState);
     processServos();
+    SuperPin::loop();
   }
   if (diag) {
     displayPins();
   }
   processSerialInput();
   processDisplayOutput();
-}
+}

Servo.h

@@ -0,0 +1,125 @@
+/*
+  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+/* 
+  A servo is activated by creating an instance of the Servo class passing 
+  the desired pin to the attach() method.
+  The servos are pulsed in the background using the value most recently 
+  written using the write() method.
+
+  Note that analogWrite of PWM on pins associated with the timer are 
+  disabled when the first servo is attached.
+  Timers are seized as needed in groups of 12 servos - 24 servos use two 
+  timers, 48 servos will use four.
+  The sequence used to seize timers is defined in timers.h
+
+  The methods are:
+
+    Servo - Class for manipulating servo motors connected to Arduino pins.
+
+    attach(pin )  - Attaches a servo motor to an I/O pin.
+    attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+    default min is 544, max is 2400  
+ 
+    write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+    writeMicroseconds() - Sets the servo pulse width in microseconds 
+    read()      - Gets the last written servo pulse width as an angle between 0 and 180. 
+    readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+    attached()  - Returns true if there is a servo attached. 
+    detach()    - Stops an attached servos from pulsing its I/O pin. 
+ */
+
+#ifndef Servo_h
+#define Servo_h
+
+#include <inttypes.h>
+
+/* 
+ * Defines for 16 bit timers used with Servo library 
+ *
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ */
+
+// Architecture specific include
+#if defined(ARDUINO_ARCH_AVR)
+#include "avr/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_SAM)
+#include "sam/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_SAMD)
+#include "samd/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_STM32F4)
+#include "stm32f4/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_NRF52)
+#include "nrf52/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_MEGAAVR)
+#include "megaavr/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_MBED)
+#include "mbed/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_RENESAS)
+#include "renesas/ServoTimers.h"
+#else
+#error "This library only supports boards with an AVR, SAM, SAMD, NRF52 or STM32F4 processor."
+#endif
+
+#define Servo_VERSION           2     // software version of this library
+
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo  
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo 
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minimum time to refresh servos in microseconds 
+
+#define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer 
+#define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+#if !defined(ARDUINO_ARCH_STM32F4)
+
+typedef struct  {
+  uint8_t nbr        :6 ;             // a pin number from 0 to 63
+  uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false 
+} ServoPin_t   ;  
+
+typedef struct {
+  ServoPin_t Pin;
+  volatile unsigned int ticks;
+} servo_t;
+
+class Servo
+{
+public:
+  Servo();
+  uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or INVALID_SERVO if failure
+  uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. 
+  void detach();
+  void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds 
+  void writeMicroseconds(int value); // Write pulse width in microseconds 
+  int read();                        // returns current pulse width as an angle between 0 and 180 degrees
+  int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
+  bool attached();                   // return true if this servo is attached, otherwise false 
+private:
+   uint8_t servoIndex;               // index into the channel data for this servo
+   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH    
+   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH   
+};
+
+#endif
+#endif

SuperPin.cpp

@@ -0,0 +1,136 @@
+/*
+ *  © 2023, Chris Harlow and Peter Cole. All rights reserved.
+ *  
+ *  This file is part of EX-IOExpander.
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#include <Arduino.h>
+#include "SuperPin.h"
+
+SuperPin* volatile SuperPin::firstPin=NULL;
+
+
+// create a superpin for you to set 
+// e.g. SuperPin p=new SuperPin(15);
+// then set the pattern when required with p->setPattern(....)
+
+SuperPin::SuperPin(byte _pinId) {
+  pinId=_pinId;
+  onCount=0;
+  offCount=255;
+  runningCount=255;
+  pinMode(_pinId, OUTPUT);
+  pinState=LOW;
+  digitalWrite(pinId,pinState);
+
+  // chain in the new pin
+  noInterrupts();
+  next=firstPin;
+  firstPin=this;
+  interrupts(); 
+}
+
+// Call this to set a pattern of on/off
+// setPattern(25,100) low frequency PWM 20% (25 on, 100 off)
+// setPattern(1,4) high frequency PWM 20% (1 on, 4 off)
+// and so on... 
+
+void SuperPin::setPattern(byte _onCount, byte _offCount) {
+  noInterrupts();
+  onCount=_onCount;
+  offCount=_offCount;
+  runningCount=0;
+  // pinState=LOW;
+  pinState=_offCount?LOW:HIGH;
+  fastDigitalWrite(pinId, pinState);
+  interrupts();  
+}
+
+// Set a pin to be HIGH or LOW
+void SuperPin::set(byte _pinId, bool _high) {
+  if (_high) setPattern(_pinId,255,0);
+  else setPattern(_pinId,0,255);
+}
+
+// Set a pin to be a PWM pattern 
+void SuperPin::setPattern(byte _pinId, byte _onCount, byte _offCount) {
+  for ( SuperPin* volatile p=firstPin; p; p=p->next){
+    if (p->pinId==_pinId) {
+      p->setPattern(_onCount, _offCount);
+      return;
+    }
+  }
+  (new SuperPin(_pinId))->setPattern(_onCount,_offCount);     
+}
+
+
+void SuperPin::tick() {
+  if (runningCount) {
+    runningCount--;
+    return;
+  }
+  if (pinState) {
+    // pin is HIGH... switch to LOW unless locked
+    if (offCount==0) {
+      // pin is locked on
+      runningCount=onCount;
+      return; 
+    }
+    runningCount=offCount;
+    pinState=LOW;
+  }
+  else {
+    // pin is LOW switch to HIGH unless locked 
+    if (onCount==0) {
+      // pin is locked off
+      runningCount=offCount;
+      return; 
+    }
+    runningCount=onCount;
+    pinState=HIGH;
+  }
+  fastDigitalWrite(pinId, pinState);
+  runningCount--; 
+}
+
+
+// EITHER - call this loop() function at a suitable frequency from your
+//  sketch loop() 
+// OR use a timer of your choice call loop() at the frequency
+// of your choice.  
+// e.g. Timer1.attachInterrupt(SuperPin::loop,freq); 
+
+void SuperPin::loop() {
+  for (SuperPin* volatile p=firstPin; p; p=p->next) p->tick();
+}
+
+// Fast digital writes stolen from EX-CommandStation
+void SuperPin::fastDigitalWrite(uint8_t pin, bool state) {
+#ifdef USE_FAST_WRITES
+  if (pin >= NUM_DIGITAL_PINS) return;
+  uint8_t mask = digitalPinToBitMask(pin);
+  uint8_t port = digitalPinToPort(pin);
+  volatile uint8_t *outPortAdr = portOutputRegister(port);
+  noInterrupts();
+  if (state) 
+    *outPortAdr |= mask;
+  else
+    *outPortAdr &= ~mask;
+  interrupts();
+#else
+  digitalWrite(pin, state);
+#endif
+}

SuperPin.h

@@ -0,0 +1,43 @@
+/*
+ *  © 2023, Chris Harlow and Peter Cole. All rights reserved.
+ *  
+ *  This file is part of EX-IOExpander.
+ *
+ *  This is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  It is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with CommandStation.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+#ifndef SUPERPIN_H
+#define SUPERPIN_H
+
+#include <Arduino.h>
+#include "defines.h"
+
+class SuperPin  {
+  public:
+    static void setPattern(byte pinId, byte _onCount, byte _offCount);
+    static void set(byte pinId, bool high);
+    static void loop();
+
+  private:
+    SuperPin(byte _pinid);
+    void setPattern(byte _onCount, byte _offCount);
+    void tick();
+    static SuperPin* volatile firstPin;
+    SuperPin* volatile next;
+    volatile byte pinId, onCount, offCount, runningCount;
+    volatile bool pinState;
+    static void fastDigitalWrite(uint8_t pin, bool state);
+};
+
+#endif

arduino_avr_mega.h

@@ -43,4 +43,61 @@ pinName pinNameMap[TOTAL_PINS] = {
   {A12,"A12"},{A13,"A13"},{A14,"A14"},{A15,"A15"},
 };
 
-#endif
+// Servo support here
+Servo servo1;
+Servo servo2;
+Servo servo3;
+Servo servo4;
+Servo servo5;
+Servo servo6;
+Servo servo7;
+Servo servo8;
+Servo servo9;
+Servo servo10;
+Servo servo11;
+Servo servo12;
+Servo servo13;
+Servo servo14;
+Servo servo15;
+Servo servo16;
+Servo servo17;
+Servo servo18;
+Servo servo19;
+Servo servo20;
+Servo servo21;
+Servo servo22;
+Servo servo23;
+Servo servo24;
+Servo servo25;
+Servo servo26;
+Servo servo27;
+Servo servo28;
+Servo servo29;
+Servo servo30;
+Servo servo31;
+Servo servo32;
+Servo servo33;
+Servo servo34;
+Servo servo35;
+Servo servo36;
+Servo servo37;
+Servo servo38;
+Servo servo39;
+Servo servo40;
+Servo servo41;
+Servo servo42;
+Servo servo43;
+Servo servo44;
+Servo servo45;
+Servo servo46;
+Servo servo47;
+Servo servo48;
+
+Servo servoMap[MAX_SERVOS] = {
+  servo1,servo2,servo3,servo4,servo5,servo6,servo7,servo8,servo9,servo10,servo11,servo12,
+  servo13,servo14,servo15,servo16,servo17,servo18,servo19,servo20,servo21,servo22,servo23,servo24,
+  servo25,servo26,servo27,servo28,servo29,servo30,servo31,servo32,servo33,servo34,servo35,servo36,
+  servo37,servo38,servo39,servo40,servo41,servo42,servo43,servo44,servo45,servo46,servo47,servo48,
+};
+
+#endif