[136] | 1 | /*
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| 2 | Copyright (c) 2013 Arduino LLC. All right reserved.
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| 3 |
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| 4 | This library is free software; you can redistribute it and/or
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| 5 | modify it under the terms of the GNU Lesser General Public
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| 6 | License as published by the Free Software Foundation; either
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| 7 | version 2.1 of the License, or (at your option) any later version.
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| 8 |
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| 9 | This library is distributed in the hope that it will be useful,
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| 10 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 11 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 12 | Lesser General Public License for more details.
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| 13 |
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| 14 | You should have received a copy of the GNU Lesser General Public
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| 15 | License along with this library; if not, write to the Free Software
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| 16 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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| 17 | */
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[224] | 18 | //Edited by Arduino Srl development team.
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[136] | 19 |
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| 20 | #if defined(ARDUINO_ARCH_SAMD)
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| 21 |
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| 22 | #include <Arduino.h>
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| 23 | #include <Servo.h>
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| 24 |
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[224] | 25 |
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[136] | 26 | static servo_t servos[MAX_SERVOS]; // static array of servo structures
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| 27 |
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| 28 | uint8_t ServoCount = 0; // the total number of attached servos
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[224] | 29 | uint8_t isTC = 0 ;
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| 30 | Tc* TCx ;
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[136] | 31 | Tcc* TCCx;
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| 32 | uint8_t Channelx = 0;
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| 33 |
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| 34 | // convenience macros
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| 35 |
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[224] | 36 | #define SERVO_MIN_TCC() (MIN_PULSE_WIDTH_SAMD_TCC) // minimum value in uS for this servo if TCC timer is used
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| 37 | #define SERVO_MAX_TCC() (MAX_PULSE_WIDTH_SAMD_TCC) // maximum value in uS for this servo if TCC timer is used
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| 38 | #define SERVO_MIN_TC() (MIN_PULSE_WIDTH_SAMD_TC) // minimum value in uS for this servo if TC timer is used
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| 39 | #define SERVO_MAX_TC() (MAX_PULSE_WIDTH_SAMD_TC) // maximum value in uS for this servo if TC timer is used
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[136] | 40 |
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| 41 | /************ static functions common to all instances ***********************/
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| 42 |
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| 43 | //------------------------------------------------------------------------------
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| 44 | /// Interrupt handler for the TC0 channel 1.
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| 45 | //------------------------------------------------------------------------------
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| 46 |
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| 47 |
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| 48 | /****************** end of static functions ******************************/
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| 49 |
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| 50 | Servo::Servo()
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| 51 | {
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| 52 | if (ServoCount < MAX_SERVOS) {
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| 53 | this->servoIndex = ServoCount++; // assign a servo index to this instance
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[224] | 54 | } else {
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| 55 | this->servoIndex = INVALID_SERVO; // too many servos
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[136] | 56 | }
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| 57 | }
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| 58 |
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| 59 | uint8_t Servo::attach(int pin)
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| 60 | {
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[224] | 61 | if((servos[this->servoIndex].Pin.nbr==4) | (servos[this->servoIndex].Pin.nbr==5) | (servos[this->servoIndex].Pin.nbr==10) | (servos[this->servoIndex].Pin.nbr==12) ){
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| 62 | return this->attach(pin, SERVO_MIN_TC(), SERVO_MAX_TC());
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| 63 | }
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| 64 | else{
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| 65 | return this->attach(pin, SERVO_MIN_TCC(), SERVO_MAX_TCC());
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| 66 | }
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[136] | 67 | }
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| 68 |
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| 69 | uint8_t Servo::attach(int pin, int min, int max)
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| 70 | {
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| 71 |
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| 72 |
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| 73 | if (this->servoIndex < MAX_SERVOS) {
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| 74 | pinMode(pin, OUTPUT); // set servo pin to output
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| 75 | servos[this->servoIndex].Pin.nbr = pin;
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[224] | 76 | int servo_min, servo_max;
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| 77 | if(pin==4 | pin==5 | pin==10 | pin==12){
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| 78 | servo_min=SERVO_MIN_TC();
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| 79 | servo_max=SERVO_MAX_TC();
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| 80 | }
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| 81 | else{
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| 82 | servo_min=SERVO_MIN_TCC();
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| 83 | servo_max=SERVO_MAX_TCC();
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| 84 | }
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| 85 | if(min > servo_min) min = servo_min;
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| 86 | if (max > servo_max) max = servo_max;
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[136] | 87 | this->min = min;
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| 88 | this->max = max;
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| 89 |
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| 90 | switch(pin)
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| 91 | {
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| 92 | case 2:
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| 93 | {
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| 94 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 95 | TCCx=TCC0;
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| 96 | Channelx=0;
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[224] | 97 | isTC=0;
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[136] | 98 | }
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| 99 | break;
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| 100 |
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| 101 | case 3:
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| 102 | {
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| 103 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 104 | TCCx=TCC0;
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| 105 | Channelx=1;
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[224] | 106 | isTC=0;
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[136] | 107 | }
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| 108 | break;
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[224] | 109 |
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| 110 | case 4:
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| 111 | {
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| 112 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 113 | TCx=TC3;
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| 114 | Channelx=0;
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| 115 | isTC=1;
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| 116 |
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| 117 | }
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| 118 | break;
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| 119 |
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| 120 | case 5:
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| 121 | {
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| 122 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 123 | TCx=TC3;
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| 124 | Channelx=1;
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| 125 | isTC=1;
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| 126 |
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| 127 | }
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| 128 | break;
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[136] | 129 | case 6:
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| 130 | {
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| 131 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 132 | TCCx=TCC0;
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| 133 | Channelx=2;
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[224] | 134 | isTC=0;
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[136] | 135 | }
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| 136 | break;
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| 137 |
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| 138 | case 7:
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| 139 | {
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| 140 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 141 | TCCx=TCC0;
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| 142 | Channelx=3;
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[224] | 143 | isTC=0;
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[136] | 144 | }
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| 145 | break;
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| 146 |
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| 147 | case 8:
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| 148 | {
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| 149 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 150 | TCCx=TCC1;
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| 151 | Channelx=0;
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[224] | 152 | isTC=0;
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[136] | 153 | }
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| 154 | break;
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| 155 |
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| 156 | case 9:
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| 157 | {
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| 158 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 159 | TCCx=TCC1;
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| 160 | Channelx=1;
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[224] | 161 | isTC=0;
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[136] | 162 | }
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| 163 | break;
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| 164 |
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[224] | 165 | case 10:
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| 166 | {
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| 167 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 168 | TCx=TC3;
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| 169 | Channelx=0;
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| 170 | isTC=1;
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| 171 |
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| 172 | }
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| 173 | break;
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| 174 |
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[136] | 175 | case 11:
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| 176 | {
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| 177 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 178 | TCCx=TCC2;
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| 179 | Channelx=0;
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[224] | 180 | isTC=0;
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[136] | 181 | }
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| 182 | break;
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| 183 |
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[224] | 184 | case 12:
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| 185 | {
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| 186 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 187 | TCx=TC3;
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| 188 | Channelx=1;
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| 189 | isTC=1;
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| 190 |
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| 191 | }
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| 192 | break;
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| 193 |
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[136] | 194 | case 13:
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| 195 | {
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| 196 | pinPeripheral(pin, g_APinDescription[pin].ulPinType);
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| 197 | TCCx=TCC2;
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| 198 | Channelx=1;
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[224] | 199 | isTC=0;
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[136] | 200 | }
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| 201 | break;
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| 202 |
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| 203 | default:
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| 204 | break;
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| 205 |
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| 206 | }
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| 207 |
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| 208 | if ((TCCx==TCC0) | (TCCx==TCC1)) GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK3 | GCLK_CLKCTRL_ID( GCM_TCC0_TCC1 )) ;
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[224] | 209 | else if((TCCx==TCC2) | (TCx==TC3 ))GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK3 | GCLK_CLKCTRL_ID( GCM_TCC2_TC3 )) ;
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[136] | 210 | else;
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[224] | 211 |
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| 212 | if(servos[this->servoIndex].Pin.isActive == false){
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| 213 | // Set PORT
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| 214 | if ( isTC )
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| 215 | {
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| 216 | // -- Configure TC
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| 217 | //DISABLE TCx
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| 218 | TCx->COUNT16.CTRLA.reg &=~(TC_CTRLA_ENABLE);
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| 219 | //Set Timer counter Mode to 16 bits
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| 220 | TCx->COUNT16.CTRLA.reg |= TC_CTRLA_MODE_COUNT16;
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| 221 | //Set Prescaler to divide by 2
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| 222 | TCx->COUNT16.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV2;
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| 223 | //Set TCx as normal PWM
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| 224 | TCx->COUNT16.CTRLA.reg |= TC_CTRLA_WAVEGEN_NPWM;
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| 225 | //default value for servo position
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| 226 | TCx->COUNT16.CC[Channelx].reg = 1500;
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| 227 | //ENABLE TCx
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| 228 | TCx->COUNT16.CTRLA.reg |= TC_CTRLA_ENABLE;
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| 229 | servos[this->servoIndex].Pin.isActive = true;
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| 230 | }
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| 231 | else
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| 232 | {
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| 233 | // -- Configure TCC
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| 234 |
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| 235 | TCCx->CTRLA.reg &=~(TCC_CTRLA_ENABLE); //disable TCC module
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[136] | 236 | TCCx->CTRLA.reg |=TCC_CTRLA_PRESCALER_DIV8; //setting prescaler to divide by 8
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| 237 | TCCx->WAVE.reg |= TCC_WAVE_WAVEGEN_NPWM; //Set TCCx as normal PWM
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| 238 | TCCx->CC[Channelx].reg=1500; //default value for servo position
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| 239 | TCCx->PER.reg=20000; // setting servo frequency (50 hz)
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| 240 | TCCx->CTRLA.reg |= TCC_CTRLA_ENABLE ; //ENABLE TCCx
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[224] | 241 | servos[this->servoIndex].Pin.isActive = true;
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| 242 | }
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| 243 |
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| 244 | }
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[136] | 245 | }
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| 246 | return this->servoIndex;
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| 247 | }
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| 248 |
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| 249 | void Servo::detach()
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| 250 | {
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| 251 |
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| 252 |
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| 253 | servos[this->servoIndex].Pin.isActive = false;
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| 254 | if((servos[this->servoIndex].Pin.nbr == 2) | (servos[this->servoIndex].Pin.nbr == 3) | (servos[this->servoIndex].Pin.nbr == 6) | (servos[this->servoIndex].Pin.nbr == 7)) TCC0->CTRLA.reg &=~(TCC_CTRLA_ENABLE);
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| 255 | else if((servos[this->servoIndex].Pin.nbr == 8) | (servos[this->servoIndex].Pin.nbr == 9)) TCC1->CTRLA.reg &=~(TCC_CTRLA_ENABLE);
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| 256 | else if ((servos[this->servoIndex].Pin.nbr == 11) | (servos[this->servoIndex].Pin.nbr == 13)) TCC2->CTRLA.reg &=~(TCC_CTRLA_ENABLE);
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[224] | 257 | else if ((servos[this->servoIndex].Pin.nbr == 4 ) | (servos[this->servoIndex].Pin.nbr == 5 ) | (servos[this->servoIndex].Pin.nbr == 10 ) | (servos[this->servoIndex].Pin.nbr == 12 ))TC3->COUNT16.CTRLA.reg &=~(TC_CTRLA_ENABLE);
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[136] | 258 | }
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| 259 |
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| 260 | void Servo::write(int value)
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[224] | 261 | {
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| 262 | //select the right values for servo motor
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| 263 | int servo_min;
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| 264 | int servo_max;
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| 265 | if((servos[this->servoIndex].Pin.nbr==4) | (servos[this->servoIndex].Pin.nbr==5) | (servos[this->servoIndex].Pin.nbr==10) | (servos[this->servoIndex].Pin.nbr==12) ){
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| 266 | servo_min=SERVO_MIN_TC();
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| 267 | servo_max=SERVO_MAX_TC();
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| 268 | // treat values less than 1700 as angles in degrees (valid values in microseconds are handled as microseconds)
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| 269 | if (value < servo_min)
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| 270 | {
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| 271 | if (value < 0)
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| 272 | value = 0;
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| 273 | else if (value > 180)
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| 274 | value = 180;
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| 275 | value = map(value, 0, 180, servo_min, servo_max);
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| 276 | }
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[136] | 277 | }
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[224] | 278 | else{
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| 279 | servo_min=SERVO_MIN_TCC();
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| 280 | servo_max=SERVO_MAX_TCC();
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| 281 | // treat values less than 400 as angles in degrees (valid values in microseconds are handled as microseconds)
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| 282 | if (value < servo_min)
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| 283 | {
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| 284 | if (value < 0)
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| 285 | value = 0;
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| 286 | else if (value > 180)
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| 287 | value = 180;
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| 288 | value = map(value, 0, 180, servo_min, servo_max);
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| 289 | }
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| 290 | }
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| 291 |
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[136] | 292 | writeMicroseconds(value);
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| 293 | }
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| 294 |
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| 295 | void Servo::writeMicroseconds(int value)
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| 296 | {
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| 297 | // calculate and store the values for the given channel
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| 298 | byte channel = this->servoIndex;
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| 299 | if( (channel < MAX_SERVOS) ) // ensure channel is valid
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| 300 | {
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[224] | 301 | //select the right values for servo motor
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| 302 | int servo_min;
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| 303 | int servo_max;
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| 304 | if((servos[this->servoIndex].Pin.nbr==4) | (servos[this->servoIndex].Pin.nbr==5) | (servos[this->servoIndex].Pin.nbr==10) | (servos[this->servoIndex].Pin.nbr==12) ){
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| 305 | servo_min=SERVO_MIN_TC();
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| 306 | servo_max=SERVO_MAX_TC();
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| 307 | }
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| 308 | else{
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| 309 | servo_min=SERVO_MIN_TCC();
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| 310 | servo_max=SERVO_MAX_TCC();
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| 311 | }
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| 312 | if (value < servo_min) // ensure pulse width is valid
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| 313 | value = servo_min;
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| 314 | else if (value > servo_max)
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| 315 | value = servo_max;
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| 316 | servos[this->servoIndex].ticks = value;
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[136] | 317 | switch(servos[this->servoIndex].Pin.nbr)
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| 318 | {
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| 319 | case 2:
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| 320 | TCC0->CC[0].reg=value;
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| 321 | break;
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| 322 |
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| 323 | case 3:
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| 324 | TCC0->CC[1].reg=value;
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| 325 | break;
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| 326 |
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[224] | 327 | case 4:
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| 328 | TC3->COUNT16.CC[0].reg = value;
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| 329 | break;
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| 330 |
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| 331 | case 5:
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| 332 | TC3->COUNT16.CC[1].reg = value;
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| 333 | break;
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| 334 |
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[136] | 335 | case 6:
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| 336 | TCC0->CC[2].reg=value;
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| 337 | break;
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| 338 |
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| 339 | case 7:
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| 340 | TCC0->CC[3].reg=value;
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| 341 | break;
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| 342 |
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| 343 | case 8:
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| 344 | TCC1->CC[0].reg=value;
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| 345 | break;
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| 346 |
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| 347 | case 9:
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| 348 | TCC1->CC[1].reg=value;
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| 349 | break;
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[224] | 350 |
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| 351 | case 10:
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| 352 | TC3->COUNT16.CC[0].reg = value;
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| 353 | break;
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[136] | 354 |
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| 355 | case 11:
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| 356 | TCC2->CC[0].reg=value;
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| 357 | break;
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| 358 |
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[224] | 359 | case 12:
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| 360 | TC3->COUNT16.CC[1].reg = value;
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| 361 | break;
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| 362 |
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[136] | 363 | case 13:
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| 364 | TCC2->CC[1].reg=value;
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| 365 | break;
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| 366 |
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| 367 | default:
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| 368 | break;
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| 369 |
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| 370 | }
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| 371 |
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[224] | 372 | //servos[this->servoIndex].ticks = value; //to be fixed
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[136] | 373 | //servos[channel].ticks = value;
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| 374 | }
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| 375 | }
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| 376 |
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| 377 | int Servo::read() // return the value as degrees
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| 378 | {
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[224] | 379 | //select the right values for servo motor
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| 380 | int servo_min;
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| 381 | int servo_max;
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| 382 | if((servos[this->servoIndex].Pin.nbr==4) | (servos[this->servoIndex].Pin.nbr==5) | (servos[this->servoIndex].Pin.nbr==10) | (servos[this->servoIndex].Pin.nbr==12) ){
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| 383 | servo_min=SERVO_MIN_TC();
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| 384 | servo_max=SERVO_MAX_TC();
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| 385 | }
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| 386 | else{
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| 387 | servo_min=SERVO_MIN_TCC();
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| 388 | servo_max=SERVO_MAX_TCC();
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| 389 | }
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| 390 | return map(readMicroseconds(), servo_min, servo_max, 0, 180);
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[136] | 391 | }
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| 392 |
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| 393 | int Servo::readMicroseconds()
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| 394 | {
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| 395 | unsigned int pulsewidth;
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| 396 | if (this->servoIndex != INVALID_SERVO)
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| 397 | pulsewidth = servos[this->servoIndex].ticks;
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| 398 | else
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| 399 | pulsewidth = 0;
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| 400 |
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| 401 | return pulsewidth;
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| 402 | }
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| 403 |
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| 404 | bool Servo::attached()
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| 405 | {
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| 406 | return servos[this->servoIndex].Pin.isActive;
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| 407 | }
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| 408 |
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| 409 | #endif // ARDUINO_ARCH_SAM
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| 410 |
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