Import Tlc5940 version r014_2

tlc_servos.h

@@ -0,0 +1,131 @@
+/*  Copyright (c) 2009 by Alex Leone <acleone ~AT~ gmail.com>
+
+    This file is part of the Arduino TLC5940 Library.
+
+    The Arduino TLC5940 Library 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.
+
+    The Arduino TLC5940 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 General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with The Arduino TLC5940 Library.  If not, see
+    <http://www.gnu.org/licenses/>. */
+
+#ifndef TLC_SERVOS_H
+#define TLC_SERVOS_H
+
+/** \file
+    TLC servo functions. */
+
+#include <avr/io.h>
+#include "Tlc5940.h"
+
+#ifndef SERVO_MAX_ANGLE
+/** The maximum angle of the servo. */
+#define SERVO_MAX_ANGLE     180
+#endif
+#ifndef SERVO_MIN_WIDTH
+/** The 1ms pulse width for zero degrees (0 - 4095). */
+#define SERVO_MIN_WIDTH     204
+#endif
+#ifndef SERVO_MAX_WIDTH
+/** The 2ms pulse width for 180 degrees (0 - 4095). */
+#define SERVO_MAX_WIDTH     410
+#endif
+#ifndef SERVO_TIMER1_TOP
+/** The top value for XLAT and BLANK pulses.  This is with the div8 prescale,
+    so
+    \f$\displaystyle f_{PWM} = \frac{f_{osc}}{2 * 8 * SERVO\_TIMER1\_TOP} \f$
+    The default is 20000, which corresponds to 50Hz. */
+#define SERVO_TIMER1_TOP    20000
+#endif
+#ifndef SERVO_TIMER2_TOP
+/** The top value for GSCLK pulses.  Related to SERVO_TIMER1_TOP by
+    \f$\displaystyle SERVO\_TIMER2\_TOP =
+        \frac{2 * 8 * SERVO\_TIMER1\_TOP}{4096} - 1 \f$
+    The default is 77. */
+#define SERVO_TIMER2_TOP    77
+#endif
+
+void tlc_initServos(uint8_t initAngle = 0);
+void tlc_setServo(TLC_CHANNEL_TYPE channel, uint8_t angle);
+uint8_t tlc_getServo(TLC_CHANNEL_TYPE channel);
+uint16_t tlc_angleToVal(uint8_t angle);
+uint8_t tlc_valToAngle(uint16_t value);
+
+/** \addtogroup ExtendedFunctions
+    \code #include "tlc_servos.h" \endcode
+    - void tlc_initServos(uint8_t initAngle = 0) - initializes the tlc for
+            servos.
+    - void tlc_setServo(TLC_CHANNEL_TYPE channel, uint8_t angle) - sets a
+            servo to an angle
+    - uint8_t tlc_getServo(TLC_CHANNEL_TYPE channel) - gets the currently set
+            servo angle */
+/* @{ */
+
+/** Initializes the tlc.
+    \param initAngle the initial angle to set all servos to
+            (0 - SERVO_MAX_ANGLE). */
+void tlc_initServos(uint8_t initAngle)
+{
+    Tlc.init(tlc_angleToVal(initAngle));
+    TCCR1B &= ~(_BV(CS12) | _BV(CS11) | _BV(CS10)); // stop timer1
+    ICR1 = SERVO_TIMER1_TOP;
+    TCNT1 = 0;
+#ifdef TLC_ATMEGA_8_H
+    uint8_t oldTCCR2 = TCCR2;
+    TCCR2 = 0;
+    TCNT2 = 0;
+    OCR2 = SERVO_TIMER2_TOP / 2;
+    TCCR2 = oldTCCR2;
+#else
+    uint8_t oldTCCR2B = TCCR2B;
+    TCCR2B = 0;
+    TCNT2 = 0;
+    OCR2A = SERVO_TIMER2_TOP;
+    TCCR2B = oldTCCR2B;
+#endif
+    TCCR1B |= _BV(CS11); // start timer1 with div 8 prescale
+}
+
+/** Sets a servo on channel to angle.
+    \param channel which channel to set
+    \param angle (0 - SERVO_MAX_ANGLE) */
+void tlc_setServo(TLC_CHANNEL_TYPE channel, uint8_t angle)
+{
+    Tlc.set(channel, tlc_angleToVal(angle));
+}
+
+/** Gets the current angle that channel is set to.
+    \param channel which channel to get */
+uint8_t tlc_getServo(TLC_CHANNEL_TYPE channel)
+{
+    return tlc_valToAngle(Tlc.get(channel));
+}
+
+/** Converts and angle (0 - SERVO_MAX_ANGLE) to the inverted tlc channel value
+    (4095 - 0). */
+uint16_t tlc_angleToVal(uint8_t angle)
+{
+    return 4095 - SERVO_MIN_WIDTH - (
+            ((uint16_t)(angle) * (uint16_t)(SERVO_MAX_WIDTH - SERVO_MIN_WIDTH))
+            / SERVO_MAX_ANGLE);
+}
+
+/** Converts an inverted tlc channel value (4095 - 0) into an angle (0 -
+    SERVO_MAX_ANGLE). */
+uint8_t tlc_valToAngle(uint16_t value)
+{
+    return SERVO_MAX_ANGLE * (4095 - SERVO_MIN_WIDTH - value)
+            / (SERVO_MAX_WIDTH - SERVO_MIN_WIDTH);
+}
+
+/* @} */
+
+#endif
+