初始化提交

2024-07-20 22:09:06 +08:00
commit c247dd07a6
6876 changed files with 2743096 additions and 0 deletions
--- a/arduino-cli/libraries/Timer2ServoPwm/Timer2ServoPwm.h
+++ b/arduino-cli/libraries/Timer2ServoPwm/Timer2ServoPwm.h
@@ -0,0 +1,90 @@
+/*
+  Timer2ServoPwm.h
+  Interrupt driven Servo library for Arduino using 8 bit timer2. V1.0.0
+  Copyright (c) 2020, Straka.
+  All rights reserved.
+  MIT License.
+
+  The servo driver function is compatible with official servo library.
+  The main point of this library is to use timer2 as servo driver timer 
+  interrupt source when timer1 has been used by other libraries.
+  It provide a more accurate servo drive pulse control, and can control 7 
+  servos at a time. Besides, this library provides a not very accurate pwm 
+  function on any pin and 4 max pwm pins at a time.
+*/
+#ifndef __TIMER2_SERVO_PWM_H__
+#define __TIMER2_SERVO_PWM_H__
+
+#include <Arduino.h>
+#include <inttypes.h>
+
+#define PWM_ENABLE
+
+#define MIN_PULSE_WIDTH       500
+#define MAX_PULSE_WIDTH       2500      // unit:us
+
+#define PERIOD                20        // unit: ms
+#define PRESCALE_FACTOR       8
+#define CRYSTAL_FREQ          16000000  // 16M
+#define TICKS_PER_CYCLE       256
+
+#define MAX_SERVOS            7         // 20ms / 2.5ms = 8
+#define INVALID_SERVO         255 
+
+// (CRYSTAL_FREQ / 1000 / TICKS_PER_CYCLE * PERIOD / PRESCALE_FACTOR )
+#define CYCLES_PER_PERIOD     156       // 16M: 156.25
+// (CYCLES_PER_PERIOD / MAX_SERVOS)
+#define CYCLES_PER_SERVO      20
+// (1000 * 1000 / CRYSTAL_FREQ * PRESCALE_FACTOR * TICKS_PER_CYCLE) 
+#define TIME_PER_CYCLE        128       // unit: us  16
+// (CRYSTAL_FREQ / 1000 / 1000 / PRESCALE_FACTOR)
+#define TICKS_PER_MICROSECOND 2
+
+#ifdef PWM_ENABLE
+#define MAX_PWM               4
+#define INVALID_PWM           255
+#endif // !PWM_ENABLE
+
+class Timer2Servo{
+public:
+  Timer2Servo();
+  // Attach the pin to the free servo channel, sets pinMode,
+  // it will return channel number or INVALID_SERVO if failure.
+  // Caller should ensure the pin is legal.
+  uint8_t attach(uint8_t pin);
+  // Similar as attach(int pin), but also sets min and max pluse width in
+  // microseconds.
+  uint8_t attach(uint8_t pin, uint16_t min, uint16_t max); 
+  void detach();
+  // if value is < 200 its treated as an angle, otherwise as pulse width in
+  // microseconds 
+  void write(uint16_t value);             
+  // Write pulse width in microseconds 
+  void writeMicroseconds(uint16_t value); 
+  // returns current pulse width as an angle between 0 and 180 degrees
+  uint8_t read();
+  // returns current pulse width in microseconds for this servo (was read_us()
+  // in first release)            
+  uint16_t readMicroseconds();
+  bool attached();
+  void debug();
+private:
+  uint8_t servoChan_;
+  uint16_t min_;
+  uint16_t max_;
+};
+
+#ifdef PWM_ENABLE
+class Timer2Pwm{
+public:
+  Timer2Pwm();
+  uint8_t attach(uint8_t pin);
+  void write(uint8_t pwm);
+  uint8_t read();
+  void debug();
+private:
+  uint8_t pwmChan_;
+};
+#endif // !PWM_ENABLE
+
+#endif // !__TIMER2_SERVO_PWM_H__