feat: 全量同步 254 个常用的 Arduino 扩展库文件

arduino-libs/arduino-cli/libraries/Servo/src/nrf52/Servo.cpp

@@ -0,0 +1,134 @@
+/*
+  Copyright (c) 2016 Arduino. All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+*/
+
+#if defined(ARDUINO_ARCH_NRF52)
+
+#include <Arduino.h>
+#include <Servo.h>
+
+
+static servo_t servos[MAX_SERVOS];                          // static array of servo structures
+
+uint8_t ServoCount = 0;                                     // the total number of attached servos
+
+
+
+uint32_t group_pins[3][NRF_PWM_CHANNEL_COUNT]={{NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}, {NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}, {NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED, NRF_PWM_PIN_NOT_CONNECTED}};
+static uint16_t seq_values[3][NRF_PWM_CHANNEL_COUNT]={{0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}};
+
+Servo::Servo()
+{
+  if (ServoCount < MAX_SERVOS) {
+    this->servoIndex = ServoCount++;                    // assign a servo index to this instance
+  } else {                                                 
+    this->servoIndex = INVALID_SERVO;  					// too many servos
+  }
+
+}
+
+uint8_t Servo::attach(int pin)
+{
+	
+	return this->attach(pin, 0, 2500);
+}
+
+
+uint8_t Servo::attach(int pin, int min, int max)
+{
+  int servo_min, servo_max;
+  if (this->servoIndex < MAX_SERVOS) {
+    pinMode(pin, OUTPUT);                                   // set servo pin to output
+    servos[this->servoIndex].Pin.nbr = pin;
+
+	if(min < servo_min) min = servo_min;
+	if (max > servo_max) max = servo_max;
+	this->min  = min;
+    this->max  = max;
+	
+	servos[this->servoIndex].Pin.isActive = true;
+	
+  }
+  return this->servoIndex;
+}
+
+void Servo::detach()
+{
+	servos[this->servoIndex].Pin.isActive = false;
+}
+
+
+void Servo::write(int value)
+{  
+	if (value < 0)
+		value = 0;
+	else if (value > 180)
+		value = 180;
+	value = map(value, 0, 180, MIN_PULSE, MAX_PULSE);
+	
+	writeMicroseconds(value);
+}
+
+
+void Servo::writeMicroseconds(int value)
+{
+	uint8_t channel, instance;
+	uint8_t pin = servos[this->servoIndex].Pin.nbr;
+	//instance of PWM module is MSB - look at VWariant.h
+	instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16;
+	//index of PWM channel is LSB - look at VWariant.h
+	channel=g_APinDescription[pin].ulPWMChannel & 0x0F;
+	group_pins[instance][channel]=g_APinDescription[pin].ulPin;
+	NRF_PWM_Type * PWMInstance = instance == 0 ? NRF_PWM0 : (instance == 1 ? NRF_PWM1 : NRF_PWM2);
+	//configure PWM instance and enable it
+	seq_values[instance][channel]= value | 0x8000;
+	nrf_pwm_sequence_t const seq={
+								seq_values[instance],
+								NRF_PWM_VALUES_LENGTH(seq_values),
+								0,
+								0
+    };
+	nrf_pwm_pins_set(PWMInstance, group_pins[instance]);
+	nrf_pwm_enable(PWMInstance);
+	nrf_pwm_configure(PWMInstance, NRF_PWM_CLK_125kHz, NRF_PWM_MODE_UP, 2500);	// 20ms - 50Hz
+	nrf_pwm_decoder_set(PWMInstance, NRF_PWM_LOAD_INDIVIDUAL, NRF_PWM_STEP_AUTO);
+	nrf_pwm_sequence_set(PWMInstance, 0, &seq);
+	nrf_pwm_loop_set(PWMInstance, 0UL);
+	nrf_pwm_task_trigger(PWMInstance, NRF_PWM_TASK_SEQSTART0);
+}
+
+int Servo::read() // return the value as degrees
+{
+	return map(readMicroseconds(), MIN_PULSE, MAX_PULSE, 0, 180);
+}
+
+int Servo::readMicroseconds()
+{	
+	uint8_t channel, instance;
+	uint8_t pin=servos[this->servoIndex].Pin.nbr;
+	instance=(g_APinDescription[pin].ulPWMChannel & 0xF0)/16;
+	channel=g_APinDescription[pin].ulPWMChannel & 0x0F;
+	// remove the 16th bit we added before
+	return seq_values[instance][channel] & 0x7FFF;
+}
+
+bool Servo::attached()
+{
+  return servos[this->servoIndex].Pin.isActive;
+}
+
+#endif // ARDUINO_ARCH_NRF52

arduino-libs/arduino-cli/libraries/Servo/src/nrf52/ServoTimers.h

@@ -0,0 +1,38 @@
+/*
+  Copyright (c) 2016 Arduino. All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This 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
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+*/
+
+/*
+ * nRF52 doesn't use timer, but PWM. This file include definitions to keep
+ * compatibility with the Servo library standards.
+ */
+
+#ifndef __SERVO_TIMERS_H__
+#define __SERVO_TIMERS_H__
+
+/**
+ * nRF52 only definitions
+ * ---------------------
+ */
+
+#define MIN_PULSE 55
+#define MAX_PULSE 284
+
+// define one timer in order to have MAX_SERVOS = 12
+typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t;
+
+#endif   // __SERVO_TIMERS_H__