Merge pull request #54 from sparkfun/Servo

Servo library

Author: oclyke

cores/arduino/ard_sup/analog/ap3_analog.cpp

@@ -242,9 +242,15 @@ bool power_adc_disable()
 
 //Apollo3 is capapble of 14-bit ADC but Arduino defaults to 10-bit
 //This modifies the global var that controls what is returned from analogRead()
-void analogReadResolution(uint8_t bits)
+ap3_err_t analogReadResolution(uint8_t bits)
 {
+    if (bits > 16)
+    {
+        _analogBits = 16; // max out the resolution when this happens
+        return AP3_ERR;
+    }
     _analogBits = bits;
+    return AP3_OK;
 }
 
 ap3_err_t ap3_adc_setup()
@@ -652,15 +658,28 @@ ap3_err_t servoWriteResolution(uint8_t res)
     return AP3_OK;
 }
 
+uint8_t getServoResolution()
+{
+    return(_servoWriteBits);
+}
+
 ap3_err_t servoWrite(uint8_t pin, uint32_t val)
+{
+    return(servoWrite(pin, val, 544, 2400)); //Call servoWrite with Arduino default min/max microseconds. See: https://www.arduino.cc/en/Reference/ServoAttach
+}
+
+ap3_err_t servoWrite(uint8_t pin, uint32_t val, uint16_t minMicros, uint16_t maxMicros)
 {
     // Determine the high time based on input value and the current resolution setting
     uint32_t fsv = (0x01 << _servoWriteBits); // full scale value for the current resolution setting
     val = val % fsv;                          // prevent excess
     uint32_t clk = AM_HAL_CTIMER_HFRC_3MHZ;   // Using 3 MHz to get fine-grained control up to 20 ms wide
     uint32_t fw = 60000;                      // 20 ms wide frame
-    uint32_t max = 6000;                      // max width of RC pwm pulse is 2 ms or 6000 counts
-    uint32_t min = 3000;                      // min width of RC pwm pulse is 1 ms or 3000 counts
+
+    //Convert microSeconds to PWM counts.
+    uint32_t min = minMicros * 3; 
+    uint32_t max = maxMicros * 3;
+    
     uint32_t th = (uint32_t)(((max - min) * val) / fsv) + min;
 
     return ap3_pwm_output(pin, th, fw, clk);

cores/arduino/ard_sup/ap3_analog.h

@@ -43,13 +43,15 @@ ap3_err_t ap3_change_channel(ap3_gpio_pad_t padNumber);
 
 bool power_adc_disable();
 uint16_t analogRead(uint8_t pinNumber);
-void analogReadResolution(uint8_t bits);
+ap3_err_t analogReadResolution(uint8_t bits);
 
 ap3_err_t ap3_pwm_output(uint8_t pin, uint32_t th, uint32_t fw, uint32_t clk);
 ap3_err_t analogWriteResolution(uint8_t res);
 ap3_err_t analogWrite(uint8_t pin, uint32_t val);
 ap3_err_t servoWriteResolution(uint8_t res);
+uint8_t getServoResolution();
 ap3_err_t servoWrite(uint8_t pin, uint32_t val);
+ap3_err_t servoWrite(uint8_t pin, uint32_t val, uint16_t minMicros, uint16_t maxMicros);
 
 ap3_err_t tone(uint8_t pin, uint32_t freq);
 ap3_err_t tone(uint8_t pin, uint32_t freq, uint32_t duration);

cores/arduino/ard_sup/ap3_gpio.h

@@ -45,7 +45,7 @@ extern const am_hal_gpio_pincfg_t g_AM_HAL_GPIO_INPUT_PULLDOWN;
 #define AP3_GPIO_IS_VALID(pad) ((pad >= 0) && (pad < AP3_GPIO_MAX_PADS))
 
 extern ap3_gpio_pad_t ap3_gpio_pin2pad(ap3_gpio_pin_t pin);
-#define AP3_GPIO_PAD_UNUSED (-1)
+#define AP3_GPIO_PAD_UNUSED (255)
 
 #define AP3_GPIO_DEFAULT_PINCFG AP3_GPIO_PINCFG_NULL
 

libraries/Servo/examples/Example1_BasicServo/Example1_BasicServo.ino

@@ -0,0 +1,48 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  This example demonstrates the control of a servo on pin 8 on the RedBoard Artemis. Any PWM
+  pin can control a servo.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 8
+
+  The servo will rotate back and forth. 
+*/
+
+#include <Servo.h>
+
+Servo myServo;
+
+int pos = 0;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServo.attach(8);
+}
+
+void loop()
+{
+  //Sweep
+  for (pos = 0; pos <= 180; pos++) { // goes from 0 degrees to 180 degrees
+    myServo.write(pos);              // tell servo to go to position in variable 'pos'
+    delay(5);                       // waits 15ms for the servo to reach the position
+  }
+  for (pos = 180; pos >= 0; pos--) { // goes from 180 degrees to 0 degrees
+    myServo.write(pos);              // tell servo to go to position in variable 'pos'
+    delay(5);                       // waits 15ms for the servo to reach the position
+  }
+}

libraries/Servo/examples/Example2_TwoServos/Example2_TwoServos.ino

@@ -0,0 +1,51 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  This example demonstrates controlling two servos.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 8
+
+  The servo will rotate back and forth. 
+*/
+
+#include <Servo.h>
+
+Servo myServoA;
+Servo myServoB;
+
+int pos = 0;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServoA.attach(8);
+  myServoB.attach(7);
+}
+
+void loop()
+{
+  //Sweep
+  for (pos = 0; pos <= 180; pos++) {
+    myServoA.write(pos);
+    myServoB.write(180 - pos);
+    delay(5);
+  }
+  for (pos = 180; pos >= 0; pos--) {
+    myServoA.write(pos);
+    myServoB.write(180 - pos);
+    delay(5);
+  }
+}

libraries/Servo/examples/Example3_SetEndpoints/Example3_SetEndpoints.ino

@@ -0,0 +1,41 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  Different servos have different end points. Arduino defaults to 544us (min) and 2400us (max).
+  These however can be changed at startup. For more info see: https://www.arduino.cc/en/Reference/ServoAttach
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 8
+
+  The servo will rotate back and forth.
+*/
+
+#include <Servo.h>
+
+Servo myServoA;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServoA.attach(8, 500, 2600); //Increase min/max to drive servo fully
+}
+
+void loop()
+{
+  myServoA.write(180); //Go to max position
+  delay(2000);
+  myServoA.write(0); //Go to min position
+  delay(2000);
+}

libraries/Servo/examples/Example4_SetResolution/Example4_SetResolution.ino

@@ -0,0 +1,52 @@
+/*
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  Arduino defaults to 8-pin PWM resolution. This works for the majority of servos but can
+  be increased for projects that need it.
+
+  servoWriteResolution()
+  getServoResolution()
+
+  Are provided for changing and reading the resolution setting.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to pin 18:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> 8
+
+  The servo will rotate back and forth.
+*/
+
+#include <Servo.h>
+
+Servo myServoA;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServoA.attach(8);
+
+  servoWriteResolution(10); //Increase to 10-bit resolution. 16-bit is max.
+
+  int currentRes = getServoResolution();
+  Serial.print("Current resolution: ");
+  Serial.println(currentRes);
+}
+
+void loop()
+{
+  myServoA.write(180); //Go to max position
+  delay(2000);
+  myServoA.write(0); //Go to min position
+  delay(2000);
+}

libraries/Servo/examples/Example5_writeMicroseconds/Example5_writeMicroseconds.ino

@@ -0,0 +1,39 @@
+/*   
+  Author: Nathan Seidle
+  SparkFun Electronics
+  Created: August 18th, 2019
+  License: MIT. See SparkFun Arduino Apollo3 Project for more information
+
+  Purchasing from SparkFun helps write code like this and helps us
+  release products open source so that we can help each other learn: https://www.sparkfun.com/artemis
+
+  This example shows how to write to the servo in microseconds instead of position. This
+  is helpful for find the min/max us settings for a given servo manufacturer.
+
+  Hardware Connections:
+  Load this code
+  Connect a Servo to RX1:
+    Red Wire -> 3.3V or 5V
+    Black Wire -> GND
+    Signal (Yellow or White) -> RX1
+
+  The servo will rotate back and forth. 
+*/
+
+#include <Servo.h>
+
+Servo myServo;
+
+void setup()
+{
+  Serial.begin(9600);
+  Serial.println("SparkFun Servo Example");
+
+  myServo.attach(8);
+
+  myServo.writeMicroseconds(600); //Servo will go to very near the 0 degree position
+}
+
+void loop()
+{
+}