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Merge remote-tracking branch 'bcmi/add_renesas_port'
2 parents 9fe7546 + 11a5c8c commit c5b7570

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4 files changed

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‎library.properties

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@@ -6,4 +6,4 @@ sentence=Allows Arduino boards to control a variety of servo motors.
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paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />On the Arduino Due you can control up to 60 servos.
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category=Device Control
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url=https://www.arduino.cc/reference/en/libraries/servo/
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architectures=avr,megaavr,sam,samd,nrf52,stm32f4,mbed,mbed_nano,mbed_portenta,mbed_rp2040
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architectures=avr,megaavr,sam,samd,nrf52,stm32f4,mbed,mbed_nano,mbed_portenta,mbed_rp2040,renesas

‎src/Servo.h

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@@ -73,6 +73,8 @@
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#include "megaavr/ServoTimers.h"
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#elif defined(ARDUINO_ARCH_MBED)
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#include "mbed/ServoTimers.h"
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#elif defined(ARDUINO_ARCH_RENESAS)
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#include "renesas/ServoTimers.h"
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#else
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#error "This library only supports boards with an AVR, SAM, SAMD, NRF52 or STM32F4 processor."
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#endif

‎src/renesas/Servo.cpp

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/* The MIT License (MIT)
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*
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* Copyright (c) 2022 Arduino SA
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#if defined(ARDUINO_ARCH_RENESAS)
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#include "Arduino.h"
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#include "Servo.h"
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#include "ServoTimers.h"
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#include "math.h"
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#include "FspTimer.h"
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#define SERVO_MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
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#define SERVO_INVALID_INDEX (255)
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// Lower the timer ticks for finer resolution.
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#define SERVO_TIMER_TICK_US (100)
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#define SERVO_US_PER_CYCLE (20000)
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#define SERVO_IO_PORT_ADDR(pn) &((R_PORT0 + ((uint32_t) (R_PORT1 - R_PORT0) * (pn)))->PCNTR3)
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// Internal Servo sturct to keep track of RA configuration.
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typedef struct {
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// Servo period in microseconds.
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uint32_t period_us;
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// Store min/max pulse width here, because min/max in
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// Servo class are not wide enough for the pulse width.
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uint32_t period_min;
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uint32_t period_max;
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// Period period_count in microseconds.
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uint32_t period_count;
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// Internal FSP GPIO port/pin control bits.
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volatile uint32_t *io_port;
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uint32_t io_mask;
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} ra_servo_t;
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// Keep track of the total number of servos attached.
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static size_t n_servos=0;
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static ra_servo_t ra_servos[SERVO_MAX_SERVOS];
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static FspTimer servo_timer;
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static bool servo_timer_started = false;
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void servo_timer_callback(timer_callback_args_t *args);
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static int servo_timer_config(uint32_t period_us)
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{
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static bool configured = false;
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if (configured == false) {
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// Configure and enable the servo timer.
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uint8_t type = 0;
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int8_t channel = FspTimer::get_available_timer(type);
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if (channel != -1) {
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servo_timer.begin(TIMER_MODE_PERIODIC, type, channel,
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1000000.0f/period_us, 50.0f, servo_timer_callback, nullptr);
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servo_timer.setup_overflow_irq();
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servo_timer.open();
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servo_timer.stop();
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configured = true;
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}
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}
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return configured ? 0 : -1;
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}
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static int servo_timer_start()
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{
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// Start the timer if it's not started
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if (servo_timer_started == false &&
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servo_timer.start() == false) {
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return -1;
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}
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servo_timer_started = true;
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return 0;
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}
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static int servo_timer_stop()
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{
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// Start the timer if it's not started
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if (servo_timer_started == true &&
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servo_timer.stop() == false) {
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return -1;
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}
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servo_timer_started = false;
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return 0;
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}
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void servo_timer_callback(timer_callback_args_t *args)
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{
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for (size_t i=0; i<SERVO_MAX_SERVOS; i++) {
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ra_servo_t *servo = &ra_servos[i];
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if (servo->period_us) {
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servo->period_count += SERVO_TIMER_TICK_US;
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if (servo->period_count <= servo->period_us) {
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*servo->io_port = (uint32_t) servo->io_mask;
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} else {
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*servo->io_port = (uint32_t) (servo->io_mask << 16);
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}
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if (servo->period_count == SERVO_US_PER_CYCLE) {
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servo->period_count = 0;
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}
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}
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}
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}
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Servo::Servo()
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{
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servoIndex = SERVO_INVALID_INDEX;
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}
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uint8_t Servo::attach(int pin)
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{
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return attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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}
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uint8_t Servo::attach(int pin, int min, int max)
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{
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//assert(pin < NUM_DIGITAL_PINS); ?
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if (n_servos == SERVO_MAX_SERVOS) {
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return 0;
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}
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// Try to find a free servo slot.
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ra_servo_t *servo = NULL;
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bsp_io_port_pin_t io_pin = g_pin_cfg[pin].pin;
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for (size_t i=0; i<SERVO_MAX_SERVOS; i++) {
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servo = &ra_servos[i];
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if (servo->period_us == 0) {
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n_servos++;
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servoIndex = i;
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servo->period_min = min;
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servo->period_max = max;
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servo->io_mask = (1U << (io_pin & 0xFF));
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servo->io_port = SERVO_IO_PORT_ADDR(((io_pin >> 8U) & 0xFF));
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writeMicroseconds(DEFAULT_PULSE_WIDTH);
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break;
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}
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}
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if (servoIndex == SERVO_INVALID_INDEX) {
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return 0;
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}
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// Configure GPIO pin for the servo.
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R_IOPORT_PinCfg(&g_ioport_ctrl, io_pin,
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IOPORT_CFG_PORT_DIRECTION_OUTPUT | IOPORT_CFG_PORT_OUTPUT_HIGH);
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// Configure and start the timer if it's not started.
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if (servo_timer_config(SERVO_TIMER_TICK_US) != 0 ||
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servo_timer_start() != 0) {
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return 0;
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}
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return 1;
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}
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void Servo::detach()
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{
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if (servoIndex != SERVO_INVALID_INDEX) {
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ra_servo_t *servo = &ra_servos[servoIndex];
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servo_timer_stop();
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servo->period_us = 0;
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if (--n_servos) {
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servo_timer_start();
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}
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servoIndex = SERVO_INVALID_INDEX;
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}
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}
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void Servo::write(int angle)
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{
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if (servoIndex != SERVO_INVALID_INDEX) {
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ra_servo_t *servo = &ra_servos[servoIndex];
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angle = constrain(angle, 0, 180);
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writeMicroseconds(map(angle, 0, 180, servo->period_min, servo->period_max));
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}
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}
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int Servo::read()
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{
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if (servoIndex != SERVO_INVALID_INDEX) {
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ra_servo_t *servo = &ra_servos[servoIndex];
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return map(servo->period_us, servo->period_min, servo->period_max, 0, 180);
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}
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return 0;
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}
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void Servo::writeMicroseconds(int us)
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{
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if (servoIndex != SERVO_INVALID_INDEX) {
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ra_servo_t *servo = &ra_servos[servoIndex];
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servo->period_count = 0;
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servo->period_us = constrain(us, servo->period_min, servo->period_max);
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}
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}
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int Servo::readMicroseconds()
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{
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if (servoIndex != SERVO_INVALID_INDEX) {
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ra_servo_t *servo = &ra_servos[servoIndex];
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return servo->period_us;
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}
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return 0;
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}
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#endif // defined(ARDUINO_ARCH_RENESAS)

‎src/renesas/ServoTimers.h

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#define _Nbr_16timers 1

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