├── dummy ├── library.properties ├── pwm_lib_license_header.txt ├── cmake ├── build_library.cmake └── arduino_due_toolchain.cmake ├── examples ├── servo_test │ └── servo_test.ino ├── wrapper_servo_test │ └── wrapper_servo_test.ino ├── wrapper_basic_test │ └── wrapper_basic_test.ino ├── changing_period_test │ └── changing_period_test.ino └── basic_test │ └── basic_test.ino ├── CMakeLists.txt ├── pwm_defs.cpp ├── pwm_defs.h ├── README.md ├── pwm_lib.h └── COPYING /dummy: -------------------------------------------------------------------------------- 1 | dummy 2 | -------------------------------------------------------------------------------- /library.properties: -------------------------------------------------------------------------------- 1 | name=pwm_lib 2 | version=1.0 3 | author=Antonio C. Domínguez Brito 4 | maintainer=Antonio C. Domínguez Brito 5 | sentence=This is a C++ library to abstract the use of the eighth hardware PWM channels available on Arduino DUE's Atmel ATSAM3X8E microcontroller. 6 | paragraph=The library provides two kind of objects associated with each PWM channel: pwm and servo objects. PWM objects abstract the use of ATSAM3X8E PWM channels for generation PWM signals on hardware. Servo objects allows us to use any of the PWM channels available in ATSAM3X8E micro controller to generate a PWM signal for a typical servo, where the pulse duration of the PWM corresponds to angle positions of the servo. 7 | category=Signal Input/Output 8 | url=https://github.com/antodom/pwm_lib 9 | architectures=sam 10 | -------------------------------------------------------------------------------- /pwm_lib_license_header.txt: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | -------------------------------------------------------------------------------- /cmake/build_library.cmake: -------------------------------------------------------------------------------- 1 | # build_library.cmake: utilility function for building static 2 | # libraries for the Arduino DUE platform 3 | 4 | include(CMakeParseArguments) 5 | 6 | # funtion build_library( 7 | # library SRC_PATHS ... INCLUDE_PATHS ... 8 | # ) 9 | function(build_library library) 10 | 11 | set(multi_value_args SRC_PATHS INCLUDE_PATHS) 12 | cmake_parse_arguments( 13 | ${library} "" "" "${multi_value_args}" ${ARGN} ) 14 | 15 | #message(STATUS "${library}_SRC_PATHS: ${${library}_SRC_PATHS}") 16 | #message(STATUS "${library}_INCLUDE_PATHS: ${${library}_INCLUDE_PATHS}") 17 | 18 | # adding *.c and *.cpp extensions to paths 19 | set(compile_paths "") 20 | foreach(src_path ${${library}_SRC_PATHS}) 21 | if(EXISTS ${src_path}) 22 | set(compile_paths ${compile_paths} ${src_path}/*.c) 23 | set(compile_paths ${compile_paths} ${src_path}/*.cpp) 24 | else() 25 | message(SEND_ERROR "[ERROR] path ${src_path} not found!") 26 | message(SEND_ERROR "[ERROR] library ${library} cannot be built!") 27 | return() 28 | endif() 29 | endforeach(src_path) 30 | 31 | file( 32 | GLOB LIB_SOURCE_FILES 33 | LIST_DIRECTORIES false 34 | ${compile_paths} 35 | ) 36 | 37 | #message(STATUS "LIB_SOURCE_FILES (${library}): ${LIB_SOURCE_FILES}") 38 | 39 | add_library(${library} STATIC ${LIB_SOURCE_FILES}) 40 | set_property( 41 | TARGET ${library} PROPERTY 42 | LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_LIST_DIR} 43 | ) 44 | target_compile_options( 45 | ${library} PUBLIC 46 | -c -g -Os -w -ffunction-sections -fdata-sections -nostdlib -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -MMD -mcpu=cortex-m3 -std=gnu++11 -mthumb 47 | ) 48 | 49 | target_compile_definitions( 50 | ${library} PUBLIC 51 | -Dprintf=iprintf -DF_CPU=84000000L -DARDUINO=10605 -DARDUINO_SAM_DUE -DARDUINO_ARCH_SAM -D__SAM3X8E__ -DUSB_VID=0x2341 -DUSB_PID=0x003e -DUSBCON -DUSB_MANUFACTURER="Unknown" -DUSB_PRODUCT="Arduino Due" 52 | ) 53 | 54 | target_include_directories( 55 | ${library} PUBLIC 56 | ${${library}_SRC_PATHS} 57 | ${${library}_INCLUDE_PATHS} 58 | ) 59 | 60 | endfunction(build_library) 61 | 62 | 63 | 64 | -------------------------------------------------------------------------------- /cmake/arduino_due_toolchain.cmake: -------------------------------------------------------------------------------- 1 | # arduino_due_toolchain.cmake: toolchain file for arduino due 2 | 3 | include (CMakeForceCompiler) 4 | 5 | set(CMAKE_SYSTEM_NAME Generic) 6 | set(CMAKE_SYSTEM_PROCESSOR arm) 7 | 8 | # checking environment variable ARDUINO_DUE_SOURCE_PATH 9 | if( 10 | NOT (DEFINED ENV{ARDUINO_DUE_ROOT_PATH}) 11 | OR 12 | ($ENV{ARDUINO_DUE_ROOT_PATH} EQUAL "") 13 | ) 14 | 15 | message(FATAL_ERROR "[ERROR] Environment variable ARDUINO_DUE_ROOT_PATH not set!") 16 | 17 | else() 18 | 19 | message(STATUS "Environment variable ARDUINO_DUE_ROOT_PATH: $ENV{ARDUINO_DUE_ROOT_PATH}") 20 | 21 | endif() 22 | 23 | # checking environment variable ARDUINO_DUE_VERSION 24 | if( 25 | NOT (DEFINED ENV{ARDUINO_DUE_VERSION}) 26 | OR 27 | ($ENV{ARDUINO_DUE_VERSION} EQUAL "") 28 | ) 29 | 30 | message(FATAL_ERROR "[ERROR] Environment variable ARDUINO_DUE_VERSION not set!") 31 | 32 | else() 33 | 34 | message(STATUS "Environment variable ARDUINO_DUE_ROOT_PATH: $ENV{ARDUINO_DUE_VERSION}") 35 | 36 | endif() 37 | 38 | function(find_due_program DUE_PROGRAM_PATH DUE_PROGRAM WHERE) 39 | 40 | find_program( 41 | ${DUE_PROGRAM_PATH} 42 | ${DUE_PROGRAM} 43 | PATH ${WHERE} 44 | NO_SYSTEM_ENVIRONMENT_PATH 45 | ) 46 | if(NOT ${DUE_PROGRAM_PATH}) 47 | message(FATAL_ERROR "[ERROR] \"${DUE_PROGRAM}\" not found!") 48 | else() 49 | message(STATUS "\"${DUE_PROGRAM}\" found: ${${DUE_PROGRAM_PATH}}") 50 | endif() 51 | 52 | endfunction(find_due_program) 53 | 54 | find_due_program( 55 | DUE_CC 56 | arm-none-eabi-gcc 57 | $ENV{ARDUINO_DUE_ROOT_PATH}/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin 58 | ) 59 | find_due_program( 60 | DUE_CXX 61 | arm-none-eabi-g++ 62 | $ENV{ARDUINO_DUE_ROOT_PATH}/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin 63 | ) 64 | find_due_program( 65 | DUE_OBJCOPY 66 | arm-none-eabi-objcopy 67 | $ENV{ARDUINO_DUE_ROOT_PATH}/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin 68 | ) 69 | find_due_program( 70 | DUE_SIZE_TOOL 71 | arm-none-eabi-size 72 | $ENV{ARDUINO_DUE_ROOT_PATH}/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin 73 | ) 74 | find_due_program( 75 | DUE_OBJDUMP 76 | arm-none-eabi-objdump 77 | $ENV{ARDUINO_DUE_ROOT_PATH}/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin 78 | ) 79 | find_due_program( 80 | DUE_BOSSAC 81 | bossac 82 | $ENV{ARDUINO_DUE_ROOT_PATH}/tools/bossac/1.6.1-arduino 83 | ) 84 | 85 | CMAKE_FORCE_C_COMPILER(${DUE_CC} arduino_due_arm) 86 | CMAKE_FORCE_CXX_COMPILER(${DUE_CXX} arduino_due_arm) 87 | 88 | include_directories( 89 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/system/libsam 90 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/system/CMSIS/CMSIS/Include 91 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/system/CMSIS/Device/ATMEL $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/cores/arduino 92 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/cores/arduino/USB 93 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/variants/arduino_due_x 94 | ) 95 | 96 | 97 | -------------------------------------------------------------------------------- /examples/servo_test/servo_test.ino: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | /* 26 | * File: servo_test.ino 27 | * Description: This is a basic example illustrating the use of li- 28 | * brary pwm_lib and its servo objects. 29 | * Date: December 20th, 2015 30 | * Author: Antonio C. Dominguez-Brito 31 | * ROC-SIANI - Universidad de Las Palmas de Gran Canaria - Spain 32 | */ 33 | 34 | #include "pwm_lib.h" 35 | #include "tc_lib.h" 36 | 37 | using namespace arduino_due::pwm_lib; 38 | 39 | #define ANGLES 8 40 | uint32_t angles[ANGLES]= // degrees 41 | { 42 | 0, 43 | 45, 44 | 90, 45 | 135, 46 | 180, 47 | 135, 48 | 90, 49 | 45 50 | }; 51 | uint32_t angle=0; 52 | uint32_t last_angle; 53 | 54 | #define PWM_PERIOD 2000000 // hundredth of usecs (1e-8 secs) 55 | 56 | #define CAPTURE_TIME_WINDOW 40000 // usecs 57 | #define ANGLE_CHANGE_TIME 5000 // msecs 58 | 59 | servo servo_pwm_pinDAC1; // PB16 is DUE's pin DAC1 60 | 61 | // To measure PWM signals generated by the previous servo object, we will use 62 | // a capture object of tc_lib library as "oscilloscope" probe, concretely: 63 | // capture_tc0. 64 | // IMPORTANT: Take into account that for TC0 (TC0 and channel 0) the TIOA0 is 65 | // PB25, which is pin 2 for Arduino DUE, so the capture pin in this example 66 | // is pin 2. For the correspondence between all TIOA inputs for the different 67 | // TC modules, you should consult uC Atmel ATSAM3X8E datasheet in section "36. 68 | // Timer Counter (TC)"), and the Arduino pin mapping for the DUE. 69 | // Mind that to meausure the servo output in this example you should connect 70 | // pin DAC1 to capture_tc0's pin 2. 71 | capture_tc0_declaration(); 72 | auto& capture_pin2=capture_tc0; 73 | 74 | void setup() { 75 | // put your setup code here, to run once: 76 | 77 | Serial.begin(9600); 78 | 79 | // capture_pin2 initialization 80 | capture_pin2.config(CAPTURE_TIME_WINDOW); 81 | 82 | servo_pwm_pinDAC1.start( 83 | PWM_PERIOD, // pwm servo period 84 | 100000, // 1e-8 secs. (1 msecs.), minimum duty value 85 | 200000, // 1e-8 secs. (2 msecs.), maximum duty value 86 | 0, // minimum angle, corresponding minimum servo angle 87 | 180, // maximum angle, corresponding minimum servo angle 88 | angles[angle] // initial servo angle 89 | ); 90 | last_angle=millis(); 91 | Serial.println("********************************************************"); 92 | Serial.print("angle "); Serial.print(angle); 93 | Serial.print(": "); Serial.print(angles[angle]); 94 | Serial.println(" dgs."); 95 | Serial.println("********************************************************"); 96 | } 97 | 98 | void loop() { 99 | // put your main code here,to run repeatedly: 100 | 101 | delay(ANGLE_CHANGE_TIME); 102 | 103 | uint32_t status,duty,period; 104 | status=capture_pin2.get_duty_and_period(duty,period); 105 | 106 | Serial.println("********************************************************"); 107 | Serial.print("[PIN DAC1 -> PIN 2] duty: "); 108 | Serial.print( 109 | static_cast(duty)/ 110 | static_cast(capture_pin2.ticks_per_usec()), 111 | 3 112 | ); 113 | Serial.print(" usecs. period: "); 114 | Serial.print( 115 | static_cast(period)/ 116 | static_cast(capture_pin2.ticks_per_usec()), 117 | 3 118 | ); 119 | Serial.println(" usecs."); 120 | 121 | if(millis()-last_angle>ANGLE_CHANGE_TIME) 122 | { 123 | angle=(angle+1)&0x07; 124 | servo_pwm_pinDAC1.set_angle(angles[angle]); 125 | last_angle=millis(); 126 | Serial.println("********************************************************"); 127 | Serial.print("angle "); Serial.print(angle); 128 | Serial.print(": "); Serial.print(angles[angle]); 129 | Serial.println(" dgs."); 130 | Serial.println("********************************************************"); 131 | } 132 | } 133 | 134 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # CMakeLists.txt file for building project pwm_lib 2 | cmake_minimum_required(VERSION 2.8) 3 | 4 | include(cmake/build_library.cmake) 5 | 6 | set(PORT /dev/ttyACM0 CACHE STRING "uploading serial port") 7 | set(IS_NATIVE_PORT true CACHE STRING "is it the native port? (true), or not? (false)") 8 | 9 | set(CMAKE_TOOLCHAIN_FILE cmake/arduino_due_toolchain.cmake) 10 | 11 | project(pwm_lib C CXX) 12 | 13 | # building Arduino Standard Library 14 | build_library( 15 | arduino_due_std_lib 16 | SRC_PATHS 17 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/cores/arduino 18 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/cores/arduino/USB 19 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/variants/arduino_due_x 20 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/libraries/SPI 21 | INCLUDE_PATHS 22 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/cores/arduino 23 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/cores/arduino/USB 24 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/variants/arduino_due_x 25 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/libraries/SPI 26 | ) 27 | 28 | # checking environment variable ARDUINO_IDE_LIBRARY_PATH 29 | if( 30 | NOT (DEFINED ENV{ARDUINO_IDE_LIBRARY_PATH}) 31 | OR 32 | ($ENV{ARDUINO_IDE_LIBRARY_PATH} EQUAL "") 33 | ) 34 | 35 | message(FATAL_ERROR "[ERROR] Environment variable ARDUINO_IDE_LIBRARY_PATH not set!") 36 | 37 | else() 38 | 39 | message(STATUS "Environment variable ARDUINO_IDE_LIBRARY_PATH: $ENV{ARDUINO_IDE_LIBRARY_PATH}") 40 | 41 | endif() 42 | 43 | # building pwm_lib 44 | build_library( 45 | pwm_lib 46 | SRC_PATHS 47 | $ENV{ARDUINO_IDE_LIBRARY_PATH}/libraries/pwm_lib 48 | ) 49 | 50 | ##################################################################### 51 | # pwm_lib examples: begin 52 | ##################################################################### 53 | 54 | set( 55 | TC_EXAMPLES 56 | basic_test 57 | wrapper_basic_test 58 | changing_period_test 59 | servo_test 60 | wrapper_servo_test 61 | ) 62 | 63 | foreach(src_example ${TC_EXAMPLES}) 64 | configure_file( 65 | ${PROJECT_SOURCE_DIR}/examples/${src_example}/${src_example}.ino 66 | ${src_example}.cpp 67 | COPYONLY 68 | ) 69 | add_executable( 70 | ${src_example}.cpp.elf 71 | ${src_example}.cpp 72 | $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/cores/arduino/syscalls_sam3.c 73 | ) 74 | target_compile_options( 75 | ${src_example}.cpp.elf PUBLIC 76 | -c -g -Os -w -ffunction-sections -fdata-sections -nostdlib -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -MMD -mcpu=cortex-m3 -std=gnu++11 -mthumb 77 | ) 78 | 79 | target_compile_definitions( 80 | ${src_example}.cpp.elf PUBLIC 81 | -Dprintf=iprintf -DF_CPU=84000000L -DARDUINO=10605 -DARDUINO_SAM_DUE -DARDUINO_ARCH_SAM -D__SAM3X8E__ -DUSB_VID=0x2341 -DUSB_PID=0x003e -DUSBCON -DUSB_MANUFACTURER="Unknown" -DUSB_PRODUCT="Arduino Due" 82 | ) 83 | 84 | target_include_directories( 85 | ${src_example}.cpp.elf PUBLIC 86 | $ENV{ARDUINO_IDE_LIBRARY_PATH}/libraries/pwm_lib 87 | $ENV{ARDUINO_IDE_LIBRARY_PATH}/libraries/tc_lib 88 | ) 89 | target_link_libraries( 90 | ${src_example}.cpp.elf 91 | -Os -Wl,--gc-sections -mcpu=cortex-m3 -T$ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/variants/arduino_due_x/linker_scripts/gcc/flash.ld -Wl,-Map,${src_example}.cpp.map -mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group arduino_due_std_lib pwm_lib $ENV{ARDUINO_DUE_ROOT_PATH}/hardware/sam/$ENV{ARDUINO_DUE_VERSION}/variants/arduino_due_x/libsam_sam3x8e_gcc_rel.a -Wl,--end-group -lm 92 | ) 93 | 94 | # bin 95 | add_custom_command( 96 | OUTPUT 97 | ${src_example}.cpp.bin 98 | COMMAND 99 | ${DUE_OBJCOPY} -O binary ${src_example}.cpp.elf ${src_example}.cpp.bin 100 | DEPENDS 101 | ${src_example}.cpp.elf 102 | ) 103 | 104 | # size 105 | add_custom_command( 106 | OUTPUT 107 | ${src_example}.cpp.size 108 | COMMAND 109 | ${DUE_SIZE_TOOL} -A ${src_example}.cpp.elf > ${src_example}.cpp.size 110 | DEPENDS 111 | ${src_example}.cpp.elf 112 | ) 113 | 114 | # target for the custom commands 115 | add_custom_target( 116 | ${src_example} 117 | ALL 118 | DEPENDS 119 | ${src_example}.cpp.size ${src_example}.cpp.bin 120 | ) 121 | 122 | # upload - with avrdude 123 | get_filename_component(PORT_NAME ${PORT} NAME) 124 | add_custom_target( 125 | upload_${src_example} 126 | COMMAND 127 | stty -F ${PORT} 1200\; cat ${CMAKE_CURRENT_LIST_DIR}/dummy > ${PORT}\; sleep 3 128 | COMMAND 129 | ${DUE_BOSSAC} -i -d --port=${PORT_NAME} -U ${IS_NATIVE_PORT} -e -w -v -b ${src_example}.cpp.bin -R 130 | DEPENDS ${src_example}.cpp.bin 131 | COMMENT 132 | "Uploading ${src_example}.cpp.bin to uC ATSAM3X8E through ${PORT}" 133 | ) 134 | 135 | endforeach(src_example) 136 | 137 | 138 | 139 | 140 | 141 | -------------------------------------------------------------------------------- /examples/wrapper_servo_test/wrapper_servo_test.ino: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | /* 26 | * File: wrapper_servo_test.ino 27 | * Description: This is a basic example illustrating the use of li- 28 | * brary pwm_lib and its servo objects. In this case is identical 29 | * servo_test.ino but using wrapper servo objects. 30 | * Date: December 3rd, 2016 31 | * Author: Antonio C. Dominguez-Brito 32 | * ROC-SIANI - Universidad de Las Palmas de Gran Canaria - Spain 33 | */ 34 | 35 | #include "pwm_lib.h" 36 | #include "tc_lib.h" 37 | 38 | using namespace arduino_due::pwm_lib; 39 | 40 | #define ANGLES 8 41 | uint32_t angles[ANGLES]= // degrees 42 | { 43 | 0, 44 | 45, 45 | 90, 46 | 135, 47 | 180, 48 | 135, 49 | 90, 50 | 45 51 | }; 52 | uint32_t angle=0; 53 | uint32_t last_angle; 54 | 55 | #define PWM_PERIOD 2000000 // hundredth of usecs (1e-8 secs) 56 | 57 | #define CAPTURE_TIME_WINDOW 40000 // usecs 58 | #define ANGLE_CHANGE_TIME 5000 // msecs 59 | 60 | servo servo_pwm_pinDAC1; // PB16 is DUE's pin DAC1 61 | servo_wrapper< 62 | decltype(servo_pwm_pinDAC1) 63 | > servo_wrapper_pwm_pinDAC1(servo_pwm_pinDAC1); 64 | servo_base* servo_wrapper_pwm_pinDAC1_ptr=&servo_wrapper_pwm_pinDAC1; 65 | 66 | // To measure PWM signals generated by the previous servo object, we will use 67 | // a capture object of tc_lib library as "oscilloscope" probe, concretely: 68 | // capture_tc0. 69 | // IMPORTANT: Take into account that for TC0 (TC0 and channel 0) the TIOA0 is 70 | // PB25, which is pin 2 for Arduino DUE, so the capture pin in this example 71 | // is pin 2. For the correspondence between all TIOA inputs for the different 72 | // TC modules, you should consult uC Atmel ATSAM3X8E datasheet in section "36. 73 | // Timer Counter (TC)"), and the Arduino pin mapping for the DUE. 74 | // Mind that to meausure the servo output in this example you should connect 75 | // pin DAC1 to capture_tc0's pin 2. 76 | capture_tc0_declaration(); 77 | auto& capture_pin2=capture_tc0; 78 | 79 | void setup() { 80 | // put your setup code here, to run once: 81 | 82 | Serial.begin(9600); 83 | 84 | // capture_pin2 initialization 85 | capture_pin2.config(CAPTURE_TIME_WINDOW); 86 | 87 | servo_wrapper_pwm_pinDAC1_ptr->start( 88 | PWM_PERIOD, // pwm servo period 89 | 100000, // 1e-8 secs. (1 msecs.), minimum duty value 90 | 200000, // 1e-8 secs. (2 msecs.), maximum duty value 91 | 0, // minimum angle, corresponding minimum servo angle 92 | 180, // maximum angle, corresponding minimum servo angle 93 | angles[angle] // initial servo angle 94 | ); 95 | last_angle=millis(); 96 | Serial.println("********************************************************"); 97 | Serial.print("angle "); Serial.print(angle); 98 | Serial.print(": "); Serial.print(angles[angle]); 99 | Serial.println(" dgs."); 100 | Serial.println("********************************************************"); 101 | } 102 | 103 | void loop() { 104 | // put your main code here,to run repeatedly: 105 | 106 | delay(ANGLE_CHANGE_TIME); 107 | 108 | uint32_t status,duty,period; 109 | status=capture_pin2.get_duty_and_period(duty,period); 110 | 111 | Serial.println("********************************************************"); 112 | Serial.print("[PIN DAC1 -> PIN 2] duty: "); 113 | Serial.print( 114 | static_cast(duty)/ 115 | static_cast(capture_pin2.ticks_per_usec()), 116 | 3 117 | ); 118 | Serial.print(" usecs. period: "); 119 | Serial.print( 120 | static_cast(period)/ 121 | static_cast(capture_pin2.ticks_per_usec()), 122 | 3 123 | ); 124 | Serial.println(" usecs."); 125 | 126 | if(millis()-last_angle>ANGLE_CHANGE_TIME) 127 | { 128 | angle=(angle+1)&0x07; 129 | servo_wrapper_pwm_pinDAC1_ptr->set_angle(angles[angle]); 130 | last_angle=millis(); 131 | Serial.println("********************************************************"); 132 | Serial.print("angle "); Serial.print(angle); 133 | Serial.print(": "); Serial.print(angles[angle]); 134 | Serial.println(" dgs."); 135 | Serial.println("********************************************************"); 136 | } 137 | } 138 | 139 | -------------------------------------------------------------------------------- /pwm_defs.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | /* 26 | * File: pwm_defs.cpp 27 | * Description: This file includes definitions for using Arduino DUE's 28 | * ATMEL ATSAM3X8E microcontroller PWM modules. 29 | * Date: December 20th, 2015 30 | * Author: Antonio C. Dominguez-Brito 31 | * ROC-SIANI - Universidad de Las Palmas de Gran Canaria - Spain 32 | */ 33 | 34 | #include "pwm_defs.h" 35 | 36 | namespace arduino_due 37 | { 38 | 39 | namespace pwm_lib 40 | { 41 | 42 | namespace pwm_core 43 | { 44 | const uint32_t two_power_values[max_clocks+1]= 45 | { 46 | 0, // no clock divisor 47 | 1, // clock divisor 2 48 | 2, // clock divisor 4 49 | 3, // clock divisor 8 50 | 4, // clock divisor 16 51 | 5, // clock divisor 32 52 | 6, // clock divisor 64 53 | 7, // clock divisor 128 54 | 8, // clock divisor 256 55 | 9, // clock divisor 512 56 | 10, // clock divisor 1024 57 | 11, // clock divisor 2048 58 | 17 // clock divisor 131072 59 | }; 60 | 61 | const double max_periods[max_clocks+1]= 62 | { 63 | max_period(0), // no clock divisor 64 | max_period(1), // clock divisor 2 65 | max_period(2), // clock divisor 4 66 | max_period(3), // clock divisor 8 67 | max_period(4), // clock divisor 16 68 | max_period(5), // clock divisor 32 69 | max_period(6), // clock divisor 64 70 | max_period(7), // clock divisor 128 71 | max_period(8), // clock divisor 256 72 | max_period(9), // clock divisor 512 73 | max_period(10), // clock divisor 1024 74 | max_period(11), // clock divisor 2048 75 | max_period(12) // clock divisor 131072 76 | }; 77 | 78 | const uint32_t clock_masks[max_clocks+1]= 79 | { 80 | PWM_CMR_CPRE_MCK, 81 | PWM_CMR_CPRE_MCK_DIV_2, 82 | PWM_CMR_CPRE_MCK_DIV_4, 83 | PWM_CMR_CPRE_MCK_DIV_8, 84 | PWM_CMR_CPRE_MCK_DIV_16, 85 | PWM_CMR_CPRE_MCK_DIV_32, 86 | PWM_CMR_CPRE_MCK_DIV_64, 87 | PWM_CMR_CPRE_MCK_DIV_128, 88 | PWM_CMR_CPRE_MCK_DIV_256, 89 | PWM_CMR_CPRE_MCK_DIV_512, 90 | PWM_CMR_CPRE_MCK_DIV_1024, 91 | PWM_CMR_CPRE_CLKA, 92 | PWM_CMR_CPRE_CLKB 93 | }; 94 | 95 | const double tick_times[max_clocks+1]= 96 | { 97 | tick_time(0), // no clock divisor 98 | tick_time(1), // clock divisor 2 99 | tick_time(2), // clock divisor 4 100 | tick_time(3), // clock divisor 8 101 | tick_time(4), // clock divisor 16 102 | tick_time(5), // clock divisor 32 103 | tick_time(6), // clock divisor 64 104 | tick_time(7), // clock divisor 128 105 | tick_time(8), // clock divisor 256 106 | tick_time(9), // clock divisor 512 107 | tick_time(10), // clock divisor 1024 108 | tick_time(11), // clock divisor 2048 109 | tick_time(12) // clock divisor 131072 110 | }; 111 | 112 | bool find_clock( 113 | uint32_t period, // usecs. 114 | uint32_t& clock 115 | ) noexcept 116 | { 117 | for( 118 | clock=0; 119 | (clock<=max_clocks) && 120 | (static_cast(period)/100000000>max_periods[clock]); 121 | clock++ 122 | ) { /* nothing */ } 123 | 124 | if(clock>max_clocks) return false; 125 | return true; 126 | } 127 | 128 | // WARNING: this is a sustituton of PWMC_SetDutyCycle() function 129 | // in libsam, to avoid the assert. 130 | void pwmc_setdutycycle(Pwm* pPwm,uint32_t ul_channel,uint16_t duty) 131 | { 132 | // WARNING: assert has been commented, the caller should 133 | // guarantee that duty<=period when calling this function, 134 | // in order to generate a good PWM signal 135 | //assert(duty <= pPwm->PWM_CH_NUM[ul_channel].PWM_CPRD); 136 | 137 | /* If ul_channel is disabled, write to CDTY */ 138 | if ((pPwm->PWM_SR & (1 << ul_channel)) == 0) { 139 | 140 | pPwm->PWM_CH_NUM[ul_channel].PWM_CDTY = duty; 141 | } 142 | /* Otherwise use update register */ 143 | else { 144 | 145 | pPwm->PWM_CH_NUM[ul_channel].PWM_CDTYUPD = duty; 146 | } 147 | } 148 | 149 | } 150 | 151 | } 152 | 153 | } 154 | 155 | 156 | -------------------------------------------------------------------------------- /examples/wrapper_basic_test/wrapper_basic_test.ino: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | /* 26 | * File: wrapper_basic_test.ino 27 | * Description: This is a basic example illustrating the use of li- 28 | * brary pwm_lib. It generates two PWM signals with different periods 29 | * and duties (pulse durations). It is identical to basic_test.ino but 30 | * using wrappers objects. 31 | * Date: December 3rd, 2016 32 | * Author: Antonio C. Dominguez-Brito 33 | * ROC-SIANI - Universidad de Las Palmas de Gran Canaria - Spain 34 | */ 35 | 36 | #include "pwm_lib.h" 37 | #include "tc_lib.h" 38 | 39 | using namespace arduino_due::pwm_lib; 40 | 41 | #define PWM_PERIOD_PIN_35 100000 // hundredth of usecs (1e-8 secs) 42 | #define PWM_DUTY_PIN_35 1000 // 10 usecs in hundredth of usecs (1e-8 secs) 43 | 44 | #define PWM_PERIOD_PIN_42 2000000 // 20 msecs in hundredth of usecs (1e-8 secs) 45 | #define PWM_DUTY_PIN_42 100000 // 1000 msecs in hundredth of usecs (1e-8 secs) 46 | 47 | #define CAPTURE_TIME_WINDOW 40000 // usecs 48 | #define DUTY_KEEPING_TIME 1000 // msecs 49 | 50 | // defining pwm object using pin 35, pin PC3 mapped to pin 35 on the DUE 51 | // this object uses PWM channel 0 52 | pwm pwm_pin35; 53 | pwm_wrapper< 54 | decltype(pwm_pin35) 55 | > pwm_wrapper_pin35(pwm_pin35); 56 | pwm_base* pwm_wrapper_pin35_ptr=&pwm_wrapper_pin35; 57 | 58 | // defining pwm objetc using pin 42, pin PA19 mapped to pin 42 on the DUE 59 | // this object used PWM channel 1 60 | pwm pwm_pin42; 61 | pwm_wrapper< 62 | decltype(pwm_pin42) 63 | > pwm_wrapper_pin42(pwm_pin42); 64 | pwm_base* pwm_wrapper_pin42_ptr=&pwm_wrapper_pin42; 65 | 66 | // To measure PWM signals generated by the previous pwm objects, we will use 67 | // capture objects of tc_lib library as "oscilloscopes" probes. We will need 68 | // a different capture object for measuring each signal: capture_tc0 and 69 | // capture_tc1, respectively. 70 | // IMPORTANT: Take into account that for TC0 (TC0 and channel 0) the TIOA0 is 71 | // PB25, which is pin 2 for Arduino DUE, so capture_tc0's capture pin is pin 72 | // 2. For capture_tc1 (TC0 and channel 1), TIOA1 is PA2 which is pin A7 73 | // (ANALOG IN 7). For the correspondence between all TIOA inputs for the 74 | // different TC module channels, you should consult uC Atmel ATSAM3X8E 75 | // datasheet in section "36. Timer Counter (TC)"), and the Arduino pin mapping 76 | // for the DUE. 77 | // All in all, to meausure pwm outputs in this example you should connect the 78 | // PWM output of pin 35 to capture_tc0 object pin 2, and pwm output pin 42 to 79 | // capture_tc1's pin A7. 80 | 81 | capture_tc0_declaration(); // TC0 and channel 0 82 | auto& capture_pin2=capture_tc0; 83 | 84 | capture_tc1_declaration(); // TC0 and channel 1 85 | auto& capture_pinA7=capture_tc1; 86 | 87 | void setup() { 88 | // put your setup code here, to run once: 89 | 90 | Serial.begin(9600); 91 | 92 | // initialization of capture objects 93 | capture_pin2.config(CAPTURE_TIME_WINDOW); 94 | capture_pinA7.config(CAPTURE_TIME_WINDOW); 95 | 96 | // starting PWM signals 97 | pwm_wrapper_pin35_ptr->start(PWM_PERIOD_PIN_35,PWM_DUTY_PIN_35); 98 | pwm_wrapper_pin42_ptr->start(PWM_PERIOD_PIN_42,PWM_DUTY_PIN_42); 99 | } 100 | 101 | void change_duty( 102 | pwm_base& pwm_obj, 103 | uint32_t pwm_duty, 104 | uint32_t pwm_period 105 | ) 106 | { 107 | uint32_t duty=pwm_obj.get_duty()+pwm_duty; 108 | if(duty>pwm_period) duty=pwm_duty; 109 | pwm_obj.set_duty(duty); 110 | } 111 | 112 | void loop() { 113 | // put your main code here,to run repeatedly: 114 | 115 | delay(DUTY_KEEPING_TIME); 116 | 117 | uint32_t status,duty,period; 118 | 119 | Serial.println("==============================================================="); 120 | status=capture_pin2.get_duty_and_period(duty,period); 121 | Serial.print("[PIN 35 -> PIN 2] duty: "); 122 | Serial.print( 123 | static_cast(duty)/ 124 | static_cast(capture_pin2.ticks_per_usec()), 125 | 3 126 | ); 127 | Serial.print(" usecs. period: "); 128 | Serial.print(period/capture_pin2.ticks_per_usec()); 129 | Serial.println(" usecs."); 130 | 131 | status=capture_pinA7.get_duty_and_period(duty,period); 132 | Serial.print("[PIN 42 -> PIN A7] duty: "); 133 | Serial.print( 134 | static_cast(duty)/ 135 | static_cast(capture_pinA7.ticks_per_usec()), 136 | 3 137 | ); 138 | Serial.print(" usecs. period: "); 139 | Serial.print(period/capture_pinA7.ticks_per_usec()); 140 | Serial.println(" usecs."); 141 | Serial.println("==============================================================="); 142 | 143 | // changing duty in pwm output pin 35 144 | change_duty(*pwm_wrapper_pin35_ptr,PWM_DUTY_PIN_35,PWM_PERIOD_PIN_35); 145 | 146 | // changing duty in pwm output pin 42 147 | change_duty(*pwm_wrapper_pin42_ptr,PWM_DUTY_PIN_42,PWM_PERIOD_PIN_42); 148 | } 149 | 150 | 151 | 152 | -------------------------------------------------------------------------------- /examples/changing_period_test/changing_period_test.ino: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | /* 26 | * File: changing_period_test.ino 27 | * Description: This is a basic example illustrating the use of li- 28 | * brary pwm_lib. It generates a PWM signal with dynamicaclly changes 29 | * its period. 30 | * Date: September 28th,2020 31 | * Author: Antonio C. Dominguez-Brito 32 | * ROC-SIANI - Universidad de Las Palmas de Gran Canaria - Spain 33 | */ 34 | 35 | #include "pwm_lib.h" 36 | #include "tc_lib.h" 37 | 38 | using namespace arduino_due::pwm_lib; 39 | 40 | #define PERIODS 16 41 | uint32_t periods[PERIODS]= // hundredths of usecs (1e-8 secs.) 42 | { 43 | 10, // 0.1 usecs. 44 | 100, // 1 usec. 45 | 1000, // 10 usecs. 46 | 10000, // 100 usecs. 47 | 100000, // 1000 usecs. 48 | 1000000, // 10000 usecs. 49 | 10000000,// 100000 usecs. 50 | 50000000,// 500000 usecs. 51 | 50000000,// 500000 usecs. 52 | 10000000,// 100000 usecs. 53 | 1000000, // 10000 usecs. 54 | 100000, // 1000 usecs. 55 | 10000, // 100 usecs. 56 | 1000, // 10 usecs. 57 | 100, // 1 usec. 58 | 10, // 0.1 usecs. 59 | }; 60 | //{ 61 | // 100, // 1 usecs. 62 | // 200, // 2 usec. 63 | // 400, // 4 usecs. 64 | // 800, // 8 usecs. 65 | // 1600, // 16 usecs. 66 | // 3200, // 32 usecs. 67 | // 6400, // 64 usecs. 68 | // 12800,// 128 usecs. 69 | // 25600,// 256 usecs. 70 | // 12800,// 128 usecs. 71 | // 6400, // 64 usecs. 72 | // 3200, // 32 usecs. 73 | // 1600, // 16 usecs. 74 | // 800, // 8 usecs. 75 | // 400, // 4 usec. 76 | // 200, // 2 usecs. 77 | //}; 78 | uint32_t period=0; 79 | 80 | #define CAPTURE_TIME_WINDOW 1000000 // usecs 81 | #define DUTY_KEEPING_TIME 1500 // msecs 82 | 83 | // defining pwm object using pin 35, pin PC3 mapped to pin 35 on the DUE 84 | // this object uses PWM channel 0 85 | pwm pwm_pin35; 86 | 87 | // To measure PWM signals generated by the previous pwm objects, we will use 88 | // capture objects of tc_lib library as "oscilloscopes" probes. So we will 89 | // use capture object capture_tc0 for measueing the PWM signal on pin 35. 90 | // IMPORTANT: Take into account that for TC0 (TC0 and channel 0) the TIOA0 is 91 | // PB25, which is pin 2 for Arduino DUE, so capture_tc0's capture pin is pin 92 | // 2. For the correspondence between all TIOA inputs for the 93 | // different TC module channels, you should consult uC Atmel ATSAM3X8E 94 | // datasheet in section "36. Timer Counter (TC)"), and the Arduino pin mapping 95 | // for the DUE. 96 | // All in all, to meausure pwm outputs in this example you should connect the 97 | // PWM output of pin 35 to object capture_tc0's pin 2. 98 | 99 | capture_tc0_declaration(); // TC0 and channel 0 100 | auto& capture_pin2=capture_tc0; 101 | 102 | void setup() { 103 | // put your setup code here, to run once: 104 | 105 | Serial.begin(9600); 106 | 107 | // starting PWM signals 108 | pwm_pin35.start(periods[period],(periods[period]>>1)); 109 | Serial.println("==============================================================="); 110 | Serial.print("period "); Serial.print(period); Serial.print(": "); 111 | Serial.print(static_cast(periods[period])/100); Serial.print(" usecs. (duty="); 112 | Serial.print(static_cast(periods[period]>>1)/100); Serial.println(")"); 113 | Serial.println("==============================================================="); 114 | period=(period+1); //&0x0F; 115 | 116 | // initialization of capture objects 117 | capture_pin2.config(CAPTURE_TIME_WINDOW); 118 | } 119 | 120 | void loop() { 121 | // put your main code here,to run repeatedly: 122 | uint32_t status,captured_duty,captured_period; 123 | 124 | capture_pin2.restart(); 125 | 126 | delay(DUTY_KEEPING_TIME); 127 | 128 | status=capture_pin2.get_duty_and_period(captured_duty,captured_period); 129 | Serial.print("[PIN 35 -> PIN 2] captured duty: "); 130 | Serial.print( 131 | static_cast(captured_duty)/ 132 | static_cast(capture_pin2.ticks_per_usec()), 133 | 3 134 | ); 135 | Serial.print(" usecs. captured period: "); 136 | Serial.print( 137 | static_cast(captured_period)/ 138 | static_cast(capture_pin2.ticks_per_usec()), 139 | 3 140 | ); 141 | Serial.println(" usecs."); 142 | Serial.println("==============================================================="); 143 | 144 | if(!pwm_pin35.set_period_and_duty(periods[period],(periods[period]>>1),false)) 145 | { 146 | Serial.print("[ERROR] set_period_and_duty("); 147 | Serial.print(periods[period]); 148 | Serial.print(","); 149 | Serial.print((periods[period]>>1)); 150 | Serial.println(") failed!"); 151 | } 152 | Serial.println("==============================================================="); 153 | Serial.print("period "); Serial.print(period); Serial.print(": "); 154 | Serial.print(static_cast(periods[period])/100); Serial.print(" usecs. (duty="); 155 | Serial.print(static_cast(periods[period]>>1)/100); Serial.println(")"); 156 | Serial.println("==============================================================="); 157 | period=(period+1)&0x0F; 158 | } 159 | 160 | -------------------------------------------------------------------------------- /examples/basic_test/basic_test.ino: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | /* 26 | * File: basic_test.ino 27 | * Description: This is a basic example illustrating the use of li- 28 | * brary pwm_lib. It generates two PWM signals with different periods 29 | * and duties (pulse durations). 30 | * Date: December 20th, 2015 31 | * Author: Antonio C. Dominguez-Brito 32 | * ROC-SIANI - Universidad de Las Palmas de Gran Canaria - Spain 33 | */ 34 | 35 | #include "pwm_lib.h" 36 | #include "tc_lib.h" 37 | 38 | using namespace arduino_due::pwm_lib; 39 | 40 | #define PWM_PERIOD_PIN_35 800000000 // hundredth of usecs (1e-8 secs) 41 | #define PWM_DUTY_PIN_35 50000000 // 100 msecs in hundredth of usecs (1e-8 secs) 42 | 43 | #define PWM_PERIOD_PIN_42 10000 // 100 usecs in hundredth of usecs (1e-8 secs) 44 | #define PWM_DUTY_PIN_42 1000 // 10 usec in hundredth of usecs (1e-8 secs) 45 | 46 | #define CAPTURE_TIME_WINDOW 15000000 // usecs 47 | #define DUTY_KEEPING_TIME 30000 // msecs 48 | 49 | // defining pwm object using pin 35, pin PC3 mapped to pin 35 on the DUE 50 | // this object uses PWM channel 0 51 | pwm pwm_pin35; 52 | 53 | // defining pwm objetc using pin 42, pin PA19 mapped to pin 42 on the DUE 54 | // this object used PWM channel 1 55 | pwm pwm_pin42; 56 | 57 | // To measure PWM signals generated by the previous pwm objects, we will use 58 | // capture objects of tc_lib library as "oscilloscopes" probes. We will need 59 | // a different capture object for measuring each signal: capture_tc0 and 60 | // capture_tc1, respectively. 61 | // IMPORTANT: Take into account that for TC0 (TC0 and channel 0) the TIOA0 is 62 | // PB25, which is pin 2 for Arduino DUE, so capture_tc0's capture pin is pin 63 | // 2. For capture_tc1 (TC0 and channel 1), TIOA1 is PA2 which is pin A7 64 | // (ANALOG IN 7). For the correspondence between all TIOA inputs for the 65 | // different TC module channels, you should consult uC Atmel ATSAM3X8E 66 | // datasheet in section "36. Timer Counter (TC)"), and the Arduino pin mapping 67 | // for the DUE. 68 | // All in all, to meausure pwm outputs in this example you should connect the 69 | // PWM output of pin 35 to capture_tc0 object pin 2, and pwm output pin 42 to 70 | // capture_tc1's pin A7. 71 | 72 | capture_tc0_declaration(); // TC0 and channel 0 73 | auto& capture_pin2=capture_tc0; 74 | 75 | capture_tc1_declaration(); // TC0 and channel 1 76 | auto& capture_pinA7=capture_tc1; 77 | 78 | void setup() { 79 | // put your setup code here, to run once: 80 | 81 | Serial.begin(9600); 82 | 83 | // initialization of capture objects 84 | capture_pin2.config(CAPTURE_TIME_WINDOW); 85 | capture_pinA7.config(CAPTURE_TIME_WINDOW); 86 | 87 | // starting PWM signals 88 | pwm_pin35.start(PWM_PERIOD_PIN_35,PWM_DUTY_PIN_35); 89 | pwm_pin42.start(PWM_PERIOD_PIN_42,PWM_DUTY_PIN_42); 90 | 91 | Serial.println("================================================"); 92 | Serial.println("============= pwm_lib - basic_test ============="); 93 | Serial.println("================================================"); 94 | for(size_t i=0; i<=pwm_core::max_clocks;i++) 95 | { 96 | Serial.print("maximum period - clock "); Serial.print(i); Serial.print(": "); 97 | Serial.print(pwm_core::max_period(i),12); Serial.println(" s."); 98 | } 99 | Serial.println("================================================"); 100 | } 101 | 102 | // FIX: function template change_duty is defined in 103 | // #define to avoid it to be considered a function 104 | // prototype when integrating all .ino files in one 105 | // whole .cpp file. Without this trick the compiler 106 | // complains about the definition of the template 107 | // function. 108 | #define change_duty_definition \ 109 | template void change_duty( \ 110 | pwm_type& pwm_obj, \ 111 | uint32_t pwm_duty, \ 112 | uint32_t pwm_period \ 113 | ) \ 114 | { \ 115 | uint32_t duty=pwm_obj.get_duty()+pwm_duty; \ 116 | if(duty>pwm_period) duty=pwm_duty; \ 117 | pwm_obj.set_duty(duty); \ 118 | } 119 | // FIX: here we instantiate the template definition 120 | // of change_duty 121 | change_duty_definition; 122 | 123 | void loop() { 124 | // put your main code here,to run repeatedly: 125 | 126 | delay(DUTY_KEEPING_TIME); 127 | 128 | uint32_t status,duty,period; 129 | 130 | Serial.println("================================================"); 131 | status=capture_pin2.get_duty_and_period(duty,period); 132 | Serial.print("[PIN 35 -> PIN 2] duty: "); 133 | Serial.print( 134 | static_cast(duty)/ 135 | static_cast(capture_pin2.ticks_per_usec()), 136 | 3 137 | ); 138 | Serial.print(" usecs. period: "); 139 | Serial.print(period/capture_pin2.ticks_per_usec()); 140 | Serial.println(" usecs."); 141 | 142 | status=capture_pinA7.get_duty_and_period(duty,period); 143 | Serial.print("[PIN 42 -> PIN A7] duty: "); 144 | Serial.print( 145 | static_cast(duty)/ 146 | static_cast(capture_pinA7.ticks_per_usec()), 147 | 3 148 | ); 149 | Serial.print(" usecs. period: "); 150 | Serial.print(period/capture_pinA7.ticks_per_usec()); 151 | Serial.println(" usecs."); 152 | Serial.println("================================================"); 153 | 154 | // changing duty in pwm output pin 35 155 | change_duty(pwm_pin35,PWM_DUTY_PIN_35,PWM_PERIOD_PIN_35); 156 | 157 | // changing duty in pwm output pin 42 158 | change_duty(pwm_pin42,PWM_DUTY_PIN_42,PWM_PERIOD_PIN_42); 159 | } 160 | 161 | -------------------------------------------------------------------------------- /pwm_defs.h: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | /* 26 | * File: pwm_defs.h 27 | * Description: This file includes definitions for using Arduino DUE's 28 | * ATMEL ATSAM3X8E microcontroller PWM modules. 29 | * Date: December 17th, 2015 30 | * Author: Antonio C. Dominguez-Brito 31 | * ROC-SIANI - Universidad de Las Palmas de Gran Canaria - Spain 32 | */ 33 | 34 | #ifndef PWM_DEFS_H 35 | #define PWM_DEFS_H 36 | 37 | #include "Arduino.h" 38 | 39 | namespace arduino_due 40 | { 41 | 42 | namespace pwm_lib 43 | { 44 | 45 | enum class pwm_pin: uint32_t 46 | { 47 | // PWM pins listed on Table 38-2 for Atmel ATSAM3X8E 48 | // datasheet available in www.atmel.com 49 | // NOTE: only it is possible to use one pin for each 50 | // PWM channel 51 | PWMH0_PA8 , // PWM_CH0 52 | PWMH0_PB12, // PWM_CH0 53 | PWMH0_PC3 , // PWM_CH0 54 | PWML0_PA21, // PWM_CH0 55 | PWML0_PB16, // PWM_CH0 56 | PWML0_PC2 , // PWM_CH0 57 | 58 | PWMH1_PA19, // PWM_CH1 59 | PWMH1_PB13, // PWM_CH1 60 | PWMH1_PC5 , // PWM_CH1 61 | PWML1_PA12, // PWM_CH1 62 | PWML1_PB17, // PWM_CH1 63 | PWML1_PC4 , // PWM_CH1 64 | 65 | PWMH2_PA13, // PWM_CH2 66 | PWMH2_PB14, // PWM_CH2 67 | PWMH2_PC7 , // PWM_CH2 68 | PWML2_PA20, // PWM_CH2 69 | PWML2_PB18, // PWM_CH2 70 | PWML2_PC6 , // PWM_CH2 71 | 72 | PWMH3_PA9 , // PWM_CH3 73 | PWMH3_PB15, // PWM_CH3 74 | PWMH3_PC9 , // PWM_CH3 75 | PWML3_PA0 , // PWM_CH3 76 | PWML3_PB19, // PWM_CH3 77 | PWML3_PC8 , // PWM_CH3 78 | 79 | PWMH4_PC20, // PWM_CH4 80 | PWML4_PC21, // PWM_CH4 81 | 82 | PWMH5_PC19, // PWM_CH5 83 | PWML5_PC22, // PWM_CH5 84 | 85 | PWMH6_PC18, // PWM_CH6 86 | PWML6_PC23, // PWM_CH6 87 | 88 | PWML7_PC24 // PWM_CH7 89 | }; 90 | 91 | template struct pin_traits {}; 92 | 93 | #define pin_traits_specialization(the_pwm_pin,pio,pio_pin,pio_id,pio_type,pio_conf,pwm_channel,pwm_inverted) \ 94 | template<> struct pin_traits< \ 95 | the_pwm_pin \ 96 | > \ 97 | { \ 98 | static Pio* pio_p() { return pio; } \ 99 | static constexpr const uint32_t pin = pio_pin; \ 100 | static constexpr const uint32_t id = pio_id; \ 101 | static constexpr const EPioType type= pio_type; \ 102 | static constexpr const uint32_t conf = pio_conf; \ 103 | static constexpr const EPWMChannel channel = pwm_channel; \ 104 | static constexpr const bool inverted = pwm_inverted; \ 105 | }; 106 | 107 | // --------------------------------------------------------------------------------------------------------------------------- 108 | // --------PWM_CH0-------| the_pwm_pin | pio | pio_pin | per_id | pio_type | conf | channel | inverted | 109 | pin_traits_specialization(pwm_pin::PWMH0_PA8 , PIOA, PIO_PA8B_PWMH0 , ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH0, false ); 110 | pin_traits_specialization(pwm_pin::PWMH0_PB12, PIOB, PIO_PB12B_PWMH0, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH0, false ); 111 | pin_traits_specialization(pwm_pin::PWMH0_PC3 , PIOC, PIO_PC3B_PWMH0 , ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH0, false ); 112 | pin_traits_specialization(pwm_pin::PWML0_PA21, PIOA, PIO_PA21B_PWML0, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH0, true ); 113 | pin_traits_specialization(pwm_pin::PWML0_PB16, PIOB, PIO_PB16B_PWML0, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH0, true ); 114 | pin_traits_specialization(pwm_pin::PWML0_PC2 , PIOC, PIO_PC2B_PWML0 , ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH0, true ); 115 | // --------------------------------------------------------------------------------------------------------------------------- 116 | // --------PWM_CH1-------| the_pwm_pin | pio | pio_pin | per_id | pio_type | conf | channel | inverted | 117 | pin_traits_specialization(pwm_pin::PWMH1_PA19, PIOA, PIO_PA19B_PWMH1, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH1, false ); 118 | pin_traits_specialization(pwm_pin::PWMH1_PB13, PIOB, PIO_PB13B_PWMH1, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH1, false ); 119 | pin_traits_specialization(pwm_pin::PWMH1_PC5 , PIOC, PIO_PC5B_PWMH1 , ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH1, false ); 120 | pin_traits_specialization(pwm_pin::PWML1_PA12, PIOA, PIO_PA12B_PWML1, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH1, true ); 121 | pin_traits_specialization(pwm_pin::PWML1_PB17, PIOB, PIO_PB17B_PWML1, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH1, true ); 122 | pin_traits_specialization(pwm_pin::PWML1_PC4 , PIOC, PIO_PC4B_PWML1 , ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH1, true ); 123 | // --------------------------------------------------------------------------------------------------------------------------- 124 | // --------PWM_CH2-------| the_pwm_pin | pio | pio_pin | per_id | pio_type | conf | channel | inverted | 125 | pin_traits_specialization(pwm_pin::PWMH2_PA13, PIOA, PIO_PA13B_PWMH2, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH2, false ); 126 | pin_traits_specialization(pwm_pin::PWMH2_PB14, PIOB, PIO_PB14B_PWMH2, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH2, false ); 127 | pin_traits_specialization(pwm_pin::PWMH2_PC7 , PIOC, PIO_PC7B_PWMH2 , ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH2, false ); 128 | pin_traits_specialization(pwm_pin::PWML2_PA20, PIOA, PIO_PA20B_PWML2, ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH2, true ); 129 | pin_traits_specialization(pwm_pin::PWML2_PB18, PIOB, PIO_PB18B_PWML2, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH2, true ); 130 | pin_traits_specialization(pwm_pin::PWML2_PC6 , PIOC, PIO_PC6B_PWML2 , ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH2, true ); 131 | // --------------------------------------------------------------------------------------------------------------------------- 132 | // --------PWM_CH3-------| the_pwm_pin | pio | pio_pin | per_id | pio_type | conf | channel | inverted | 133 | pin_traits_specialization(pwm_pin::PWMH3_PA9 , PIOA, PIO_PA9B_PWMH3 , ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH3, false ); 134 | pin_traits_specialization(pwm_pin::PWMH3_PB15, PIOB, PIO_PB15B_PWMH3, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH3, false ); 135 | pin_traits_specialization(pwm_pin::PWMH3_PC9 , PIOC, PIO_PC9B_PWMH3 , ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH3, false ); 136 | pin_traits_specialization(pwm_pin::PWML3_PA0 , PIOA, PIO_PA0B_PWML3 , ID_PIOA, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH3, true ); 137 | pin_traits_specialization(pwm_pin::PWML3_PB19, PIOB, PIO_PB19B_PWML3, ID_PIOB, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH3, true ); 138 | pin_traits_specialization(pwm_pin::PWML3_PC8 , PIOC, PIO_PC8B_PWML3 , ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH3, true ); 139 | // --------------------------------------------------------------------------------------------------------------------------- 140 | // --------PWM_CH4-------| the_pwm_pin | pio | pio_pin | per_id | pio_type | conf | channel | inverted | 141 | pin_traits_specialization(pwm_pin::PWMH4_PC20, PIOC, PIO_PC20B_PWMH4, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH4, false ); 142 | pin_traits_specialization(pwm_pin::PWML4_PC21, PIOC, PIO_PC21B_PWML4, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH4, true ); 143 | // --------------------------------------------------------------------------------------------------------------------------- 144 | // --------PWM_CH5-------| the_pwm_pin | pio | pio_pin | per_id | pio_type | conf | channel | inverted | 145 | pin_traits_specialization(pwm_pin::PWMH5_PC19, PIOC, PIO_PC19B_PWMH5, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH5, false ); 146 | pin_traits_specialization(pwm_pin::PWML5_PC22, PIOC, PIO_PC22B_PWML5, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH5, true ); 147 | // --------------------------------------------------------------------------------------------------------------------------- 148 | // --------PWM_CH6-------| the_pwm_pin | pio | pio_pin | per_id | pio_type | conf | channel | inverted | 149 | pin_traits_specialization(pwm_pin::PWMH6_PC18, PIOC, PIO_PC18B_PWMH6, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH6, false ); 150 | pin_traits_specialization(pwm_pin::PWML6_PC23, PIOC, PIO_PC23B_PWML6, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH6, true ); 151 | // --------------------------------------------------------------------------------------------------------------------------- 152 | // --------PWM_CH7-------| the_pwm_pin | pio | pio_pin | per_id | pio_type | conf | channel | inverted | 153 | pin_traits_specialization(pwm_pin::PWML7_PC24, PIOC, PIO_PC24B_PWML7, ID_PIOC, PIO_PERIPH_B, PIO_DEFAULT, PWM_CH7, true ); 154 | 155 | namespace pwm_core 156 | { 157 | 158 | constexpr uint32_t max_clocks=12; 159 | extern const uint32_t two_power_values[max_clocks+1]; 160 | extern const double max_periods[max_clocks+1]; 161 | extern const double tick_times[max_clocks+1]; 162 | extern const uint32_t clock_masks[max_clocks+1]; 163 | 164 | constexpr inline double tick_time(uint32_t clock) noexcept 165 | { 166 | return static_cast( 167 | ( (0(1<(VARIANT_MCK): 169 | -1 170 | ); 171 | } 172 | 173 | inline double max_period(uint32_t clock) noexcept 174 | { 175 | return static_cast( 176 | ((0(1)<<(16+two_power_values[clock])) 178 | /static_cast(VARIANT_MCK) 179 | :-1 180 | ); 181 | } 182 | 183 | inline static double max_period() noexcept 184 | { return max_period(max_clocks); } 185 | 186 | extern bool find_clock( 187 | uint32_t period, // hundredths of usecs (1e-8 secs) 188 | uint32_t& clock 189 | ) noexcept; 190 | 191 | template 192 | inline bool is_inside(const T& v_min, const T& v_max, const T& v) 193 | { return ((v_min<=v) && (v<=v_max)); } 194 | 195 | 196 | // WARNING: this is a sustituton of PWMC_SetDutyCycle() function 197 | // in libsam, to avoid the assert. 198 | void pwmc_setdutycycle(Pwm* pPwm,uint32_t ul_channel,uint16_t duty); 199 | } 200 | 201 | } 202 | 203 | } 204 | 205 | #endif // PWM_DEFS_H 206 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## pwm_lib v1.3 2 | 3 | This is pwm_lib library for the Arduino DUE electronic prototyping platform. 4 | 5 | Copyright (C) 2015,2020 Antonio C. Domínguez Brito (). División de Robótica y Oceanografía Computacional () and Departamento de Informática y Sistemas (). Universidad de Las Palmas de Gran Canaria (ULPGC) (). 6 | 7 | ### 0. License 8 | 9 | The pwm_lib library is an open source project which is openly available under the GNU General Public License (GPL) license. 10 | 11 | ### 1. Introduction 12 | 13 | This is a C++ library to abstract the use of the eight hardware PWM channels available on Arduino DUE's Atmel ATSAM3X8E microcontroller. Each channel can be used to generate a completely independent PWM signal directly on hardware. The motivation to develop this library was two fold. First, the current limitation of the Arduino standard library where it is not possible to change the PWM output period of the PWM signals generated using function *analogWrite()*. And second, to have a library for servos directly supported by the hardware, therefore, "lighter", in terms of code generated and computational load, than the Servo library available in the Arduino standard library. 14 | 15 | The library provides two kind of objects associated with each PWM channel: pwm and servo objects. As those objects abstract the PWM channels available on the micro controller, using pwm_lib you can use, at most, eight independent pwm_lib objects in your application, each one with its own PWM characteristics (PWM signal period and pulse duration). In its current version, the maximum period for PWM signals you can get using pwm_lib is a period of 102.261126095238 seconds (minimum frequency of 0.009778887033462533 Hz). 16 | 17 | ### 2. PWM objects 18 | 19 | PWM objects abstract the use of ATSAM3X8E's PWM channels for generating PWM signals on hardware. There are eight independent hardware PWM channels in Atmel 's ATSAM3X8E, and using pwm_lib you can use one PWM object associated which each channel. Mind that, according to ATSAM3X8E's data sheet, for correct operation, at the same time it is possible to use only one object associated with a given hardware PWM channel. 20 | 21 | To use pwm_lib's pwm objects you have to declare it using a C++ template, here a snippet of code extracted from *basic_test.ino*: 22 | 23 | ``` 24 | // defining pwm object using pin 35, pin PC3 mapped to pin 35 on the DUE 25 | // this object uses PWM channel 0 26 | pwm pwm_pin35; 27 | ``` 28 | 29 | The template argument provided indicates which PWM channel and which pin is used to generate the PWM output. Take into account that each channel can only be associated with a set of pins, according to the data sheet of the micro controller. The set of pins available for each channel is "hardwired", and is listed in ATSAM3X8E data sheet's Table 38-2 (the data sheet is available in Atmel's web site at [http://www.atmel.com/devices/SAM3X8E.aspx](http://www.atmel.com/devices/SAM3X8E.aspx)). In fact, in pwm_lib, the correspondence between PWM channels and pins is mapped into a set of identifiers which you must use as arguments to declare pwm objects. This set of identifiers is the enumeration *pwm_pin* defined in pwm_defs.h file. The whole enumeration is reproduced next: 30 | 31 | ``` 32 | enum class pwm_pin: uint32_t 33 | { 34 | // PWM pins listed on Table 38-2 for Atmel ATSAM3X8E 35 | // datasheet available in www.atmel.com 36 | // NOTE: only it is possible to use one pin for each 37 | // PWM channel 38 | PWMH0_PA8 , // PWM_CH0 39 | PWMH0_PB12, // PWM_CH0 40 | PWMH0_PC3 , // PWM_CH0 41 | PWML0_PA21, // PWM_CH0 42 | PWML0_PB16, // PWM_CH0 43 | PWML0_PC2 , // PWM_CH0 44 | 45 | PWMH1_PA19, // PWM_CH1 46 | PWMH1_PB13, // PWM_CH1 47 | PWMH1_PC5 , // PWM_CH1 48 | PWML1_PA12, // PWM_CH1 49 | PWML1_PB17, // PWM_CH1 50 | PWML1_PC4 , // PWM_CH1 51 | 52 | PWMH2_PA13, // PWM_CH2 53 | PWMH2_PB14, // PWM_CH2 54 | PWMH2_PC7 , // PWM_CH2 55 | PWML2_PA20, // PWM_CH2 56 | PWML2_PB18, // PWM_CH2 57 | PWML2_PC6 , // PWM_CH2 58 | 59 | PWMH3_PA9 , // PWM_CH3 60 | PWMH3_PB15, // PWM_CH3 61 | PWMH3_PC9 , // PWM_CH3 62 | PWML3_PA0 , // PWM_CH3 63 | PWML3_PB19, // PWM_CH3 64 | PWML3_PC8 , // PWM_CH3 65 | 66 | PWMH4_PC20, // PWM_CH4 67 | PWML4_PC21, // PWM_CH4 68 | 69 | PWMH5_PC19, // PWM_CH5 70 | PWML5_PC22, // PWM_CH5 71 | 72 | PWMH6_PC18, // PWM_CH6 73 | PWML6_PC23, // PWM_CH6 74 | 75 | PWML7_PC24 // PWM_CH7 76 | }; 77 | ``` 78 | 79 | You have to put special emphasis on what PWM channel you are using (specified by the first part of the identifier) and which pin out of the set of pins available you will utilize for the channel. In order to know which Arduino DUE's pin corresponds to the one you have selected, you must consult the mapping of ATSM38XE's on the DUE consulting [https://www.arduino.cc/en/Hacking/PinMappingSAM3X](https://www.arduino.cc/en/Hacking/PinMappingSAM3X). In the example provided previously, the PWM channel used is channel 0, ATSAM3X8E's pin is pin PC3, and its corresponding pin on the DUE is pin 35 (the code is reproduced here for clarification): 80 | 81 | ``` 82 | // defining pwm object using pin 35, pin PC3 mapped to pin 35 on the DUE 83 | // this object uses PWM channel 0 84 | pwm pwm_pin35; 85 | ``` 86 | 87 | Once the pwm object has been defined you start using it providing its PWM period and its initial duty value (pulse duration). You specify both period and duty in hundredths of microseconds (1e-8 seconds). Here a snippet from *basic_test.ino*: 88 | 89 | ``` 90 | pwm_pin35.start(PWM_PERIOD_PIN_35,PWM_DUTY_PIN_35); 91 | ``` 92 | 93 | Then, you can change the duty at any moment (the duty is specified equally in hundredths of microseconds): 94 | 95 | ``` 96 | pwm_pin35.set_duty(duty_value); 97 | ``` 98 | And the period and the duty (specified both also in hundredths of microseconds): 99 | 100 | ``` 101 | if(pwm_pin35.set_period_and_duty(period,duty)) 102 | { 103 | // period and duty were changed 104 | } 105 | else 106 | { 107 | // either the period is too large, or duty>period 108 | } 109 | 110 | ``` 111 | Mind that for changing the period you must change the duty, and the duty you provide must be less than the period. 112 | 113 | And you can stop PWM generation: 114 | 115 | ``` 116 | pwm_pin35.stop(); 117 | ``` 118 | ### 3. Servo objects 119 | 120 | Servo objects allows us to use any of the PWM channels available in ATSAM3X8E micro controller to generate a PWM signal for a typical servo, where the pulse duration of the PWM corresponds to angle positions of the servo. Thus, the main difference with the PWM objects introduced in the previous section is that, once declared a servo object, when started, we have to specify not only the period of the signal (typically 20 msecs), but also the correspondence between pulse duration and angle intervals. 121 | 122 | Servo object in pwm_lib are also defined using a template. Here we include a snippet from *servo_test.ino*: 123 | 124 | ``` 125 | servo servo_pwm_pinDAC1; // PB16 is DUE's pin DAC1 126 | ``` 127 | 128 | As you can observe from the previous code fragment, equally to PWM objects, the argument of the template is the same identifier we use for PWM objects. In the example the PWM channel used is channel 0, and the pin is PB16, which in turns, corresponds to pin DAC1 on the DUE. In fact, a servo object is a PWM object with a different mapping for duty values, instead of specifying them using time units (hundredths of microseconds), in servo objects the duty is specified in angle degrees. 129 | 130 | So, once a servo object is declared we start using it, providing its PWM period, the interval of pulse duration and its correspondence to an interval of angles, and its initial duty specified as an angle degree. The next portion of code extracted from *servo_test.ino* illustrates it: 131 | 132 | ``` 133 | servo_pwm_pinDAC1.start( 134 | PWM_PERIOD, // pwm servo period 135 | 100000, // 1e-8 secs. (1 msecs.), minimum duty value 136 | 200000, // 1e-8 secs. (2 msecs.), maximum duty value 137 | 0, // minimum angle, corresponding minimum servo angle 138 | 180, // maximum angle, corresponding minimum servo angle 139 | duty_angle // initial servo angle 140 | ); 141 | ``` 142 | 143 | Then, you can change the duty angle: 144 | 145 | ``` 146 | servo_pwm_pinDAC1.set_angle(duty_angle); 147 | ``` 148 | 149 | And finally, you may stop servo output: 150 | 151 | ``` 152 | servo_pwm_pinDAC1.stop(); 153 | ``` 154 | 155 | ### 4. Download & installation 156 | 157 | The library is available through an open git repository available at: 158 | 159 | * 160 | 161 | and also at our own mirror at: 162 | 163 | * 164 | 165 | For using it you just have to copy the library on the libraries folder used by your Arduino IDE, the folder should be named "pwm_lib". 166 | 167 | In addition you must add the flag -std=gnu++11 for compiling. For doing that add -std=gnu++11 to the platform.txt file, concretely to compiler.cpp.flags. In Arduino IDE 1.6.6 and greater versions this flag is already set. 168 | 169 | ### 5. Examples 170 | 171 | On directory *examples* you have available three examples, namely: *basic_test.ino*, *changing_period_test.ino* and *servo_test.ino*, who illustrate respectively the use of pwm and servo objects. 172 | 173 | Example *basic_test.ino* uses two PWM objects for generating two independent PWM outputs with different PWM characteristics (period and duty). Example *wrapper_basic_test.ino* is equal to *basic_test.ino*, but illustrates the use of wrapper objects for using pwm objects as pointers. This is useful, for example, to make an array of pointer to pwm objects. Example *changing_period_test.ino* utilizes a PWM object to generate a PWM signal with different periods. And example *servo_test.ino* uses a servo object to generated a PWM output for a typical servo. Finally, *wrapper_servo_test.ino* has the same functionality that *servo_test.ino* but using wrapper servo objects. 174 | 175 | For all examples we use tc_lib's capture objects as "oscilloscopes" probes for checking the PWM outputs generated. This library is available at [https://github.com/antodom/tc_lib](https://github.com/antodom/tc_lib), and it is necessary for compiling both examples. 176 | 177 | ### 6. Incompatibilities 178 | 179 | This library is potentially incompatible with analogWrite(), if you use analogWrite() on the output pin associated with a pwm_lib object. 180 | 181 | ### 7. Compiling with CMake 182 | 183 | For compiling in command line using CMake, just proceed in the following manner: 184 | 185 | 1. Set the following environment variables (a good place to put them is on .bashrc): 186 | * Set `ARDUINO_DUE_ROOT_PATH` to `~/.arduino15/packages/arduino/`. 187 | * Set `ARDUINO_DUE_VERSION` to `1.6.17`. 188 | * Set `ARDUINO_UNO_ROOT_PATH` to the path where you have installed the Arduino IDE, for example, `~/installations/arduino-1.6.5`. 189 | * Set `ARDUINO_IDE_LIBRARY_PATH` to the path for the Arduino IDE projects you have in preferences. For example, `~/arduino_projects`. 190 | 191 | 2. Go to `pwm_lib` directory (the one you have cloned with the project). 192 | 3. Create directory `build` (if not already created). 193 | 4. Execute `cmake ..`. 194 | 5. Set the following flags and variables (if not done before), you should execute `ccmake ..`: 195 | * Set `PORT` to the serial port you will use for uploading. 196 | * Set `IS_NATIVE_PORT` to `true` (if using DUE's native port) or `false` (if using DUE's programming port). 197 | 6. Be sure the changes were applied, usually running `cmake ..`. 198 | 7. Compile executing `make`. 199 | 8. The previous step has generated the examples available with the library. You can upload the code executing: 200 | * `make upload_basic_test`, 201 | * `make upload_wrapper_basic_test`, 202 | * `make upload_changing_period_test`, 203 | * `make upload_servo_test`, 204 | * `make upload_wrapper_servo_test` 205 | 206 | ### 8. Version changes 207 | 208 | #### 7.1 v1.3 209 | 210 | With respect to version v1.2 the library has been modifyed for admitting longer PWM periods, now the maximum acceptable PWM period is 102.261126095238 seconds. 211 | 212 | ### 9. Library users 213 | 214 | In this section we would like to enumerate users using the library in their own projects and developments. So please, if you are using the library, drop us an email indicating in what project or development you are using it. 215 | 216 | The list of users/projects goes now: 217 | 218 | 1. **Project:** Autonomous sailboat A-Tirma (). **User**: División de Robótica y Oceanografía Computacional (). **Description**: The library was a specific development for this project. The sailboat onboard system is based on an Arduino DUE. 219 | 220 | ### 10. Feedback & Suggestions 221 | 222 | Please be free to send me any comment, doubt of use, or suggestion in relation to pwm_lib. 223 | -------------------------------------------------------------------------------- /pwm_lib.h: -------------------------------------------------------------------------------- 1 | /** 2 | ** pwm_lib library 3 | ** Copyright (C) 2015,2020 4 | ** 5 | ** Antonio C. Domínguez Brito 6 | ** División de Robótica y Oceanografía Computacional 7 | ** and Departamento de Informática y Sistemas 8 | ** Universidad de Las Palmas de Gran Canaria (ULPGC) 9 | ** 10 | ** This file is part of the pwm_lib library. 11 | ** The pwm_lib library is free software: you can redistribute it and/or modify 12 | ** it under the terms of the GNU General Public License as published by 13 | ** the Free Software Foundation, either version 3 of the License, or any 14 | ** later version. 15 | ** 16 | ** The pwm_lib library is distributed in the hope that it will be useful, 17 | ** but WITHOUT ANY WARRANTY; without even the implied warranty of 18 | ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General 19 | ** Public License for more details. 20 | ** 21 | ** You should have received a copy (COPYING file) of the GNU General Public 22 | ** License along with the pwm_lib library. 23 | ** If not, see: . 24 | **/ 25 | /* 26 | * File: pwm_lib.h 27 | * Description: This file includes classes and objects for using Arduino DUE's 28 | * ATMEL ATSAM3X8E microcontroller PWM modules. 29 | * Date: December 18th, 2015 30 | * Author: Antonio C. Dominguez-Brito 31 | * ROC-SIANI - Universidad de Las Palmas de Gran Canaria - Spain 32 | */ 33 | 34 | #ifndef PWM_LIB_H 35 | #define PWM_LIB_H 36 | 37 | #include "pwm_defs.h" 38 | 39 | namespace arduino_due 40 | { 41 | 42 | namespace pwm_lib 43 | { 44 | 45 | template 46 | class pwm 47 | { 48 | public: 49 | 50 | using pin_info = pin_traits; 51 | 52 | pwm(): _started_(false) {} 53 | 54 | pwm(const pwm& the_pwm) = delete; 55 | pwm(pwm&& the_pwm) = delete; 56 | pwm& operator=(const pwm& the_pwm) = delete; 57 | pwm& operator=(pwm&& the_pwm) = delete; 58 | 59 | bool start( 60 | uint32_t period, // hundredths of usecs (1e-8 secs) 61 | uint32_t duty, // // hundredths of usecs (1e-8 secs) 62 | bool inverted = false 63 | ) 64 | { 65 | uint32_t clock; 66 | if( 67 | _started_ 68 | || !pwm_core::find_clock(period,clock) 69 | || (duty>period) 70 | ) return false; 71 | 72 | _inverted_=inverted; 73 | 74 | _start_(period,duty,clock,_inverted_); 75 | 76 | return true; 77 | } 78 | 79 | void stop() { if(_started_) _stop_(); } 80 | 81 | uint32_t get_duty() { return _duty_; } 82 | 83 | bool set_duty(uint32_t duty /* 1e-8 secs. */) 84 | { 85 | if(!_started_ || (duty>_period_)) return false; 86 | 87 | _duty_=duty; 88 | //PWMC_SetDutyCycle( 89 | pwm_core::pwmc_setdutycycle( 90 | PWM_INTERFACE, 91 | pin_info::channel, 92 | static_cast( 93 | (static_cast(duty)/100000000)/ 94 | pwm_core::tick_times[_clock_] 95 | ) 96 | ); 97 | 98 | return true; 99 | } 100 | 101 | bool set_period_and_duty( 102 | uint32_t period, /* 1e-8 secs. */ 103 | uint32_t duty, /* 1e-8 secs. */ 104 | bool keep_clock = true 105 | ) 106 | { 107 | if(!_started_ || (duty>period)) return false; 108 | 109 | if(keep_clock) 110 | { 111 | auto new_period=static_cast(period)/100000000; 112 | 113 | if(new_period>pwm_core::max_periods[_clock_]) return false; 114 | 115 | _period_=period; 116 | PWMC_SetPeriod( 117 | PWM_INTERFACE, 118 | pin_info::channel, 119 | static_cast( 120 | new_period/pwm_core::tick_times[_clock_] 121 | ) 122 | ); 123 | 124 | set_duty(duty); 125 | } 126 | else 127 | { 128 | uint32_t clock; 129 | if(!pwm_core::find_clock(period,clock)) return false; 130 | 131 | if(clock==_clock_) 132 | { 133 | _period_=period; 134 | PWMC_SetPeriod( 135 | PWM_INTERFACE, 136 | pin_info::channel, 137 | static_cast( 138 | (static_cast(period)/100000000)/ 139 | pwm_core::tick_times[_clock_] 140 | ) 141 | ); 142 | 143 | set_duty(duty); 144 | } 145 | else 146 | { _stop_(); _start_(period,duty,clock,_inverted_); } 147 | } 148 | 149 | return true; 150 | } 151 | 152 | uint32_t get_period() { return _period_; } 153 | 154 | uint32_t get_clock() { return _clock_; } 155 | 156 | private: 157 | 158 | uint32_t _clock_; 159 | uint32_t _period_; // hundredths of usecs (1e-8 secs.) 160 | uint32_t _duty_; // hundredths of usecs (1e-8 secs.) 161 | bool _started_; 162 | bool _inverted_; 163 | 164 | void _start_( 165 | uint32_t period, // hundredths of usecs (1e-8 secs.) 166 | uint32_t duty, // hundredths of usecs (1e-8 secs.) 167 | uint32_t clock, 168 | bool inverted 169 | ); 170 | 171 | void _stop_() 172 | { 173 | PWMC_DisableChannel( 174 | PWM_INTERFACE, 175 | pin_info::channel 176 | ); 177 | 178 | while( 179 | (PWM->PWM_SR & (1< 188 | void pwm::_start_( 189 | uint32_t period, // hundredths of usecs (1e-8 secs.) 190 | uint32_t duty, // hundredths of usecs (1e-8 secs.) 191 | uint32_t clock, 192 | bool inverted 193 | ) 194 | { 195 | _clock_=clock; 196 | 197 | pmc_enable_periph_clk(PWM_INTERFACE_ID); 198 | 199 | // setting PWM clocks 200 | PWM->PWM_CLK= 201 | ( 202 | 1<<( 203 | pwm_core::two_power_values[11]-pwm_core::two_power_values[10] 204 | ) 205 | ) // clock A's DIVA value 206 | | (PWM_CMR_CPRE_MCK_DIV_1024<<8) //clock A's prescaler 207 | | ( 208 | ( 209 | 1<<( 210 | pwm_core::two_power_values[12]-pwm_core::two_power_values[10] 211 | ) 212 | )<<16 213 | ) // clock B's DIVB value 214 | | (PWM_CMR_CPRE_MCK_DIV_1024<<24) // clock B's prescaler 215 | ; 216 | 217 | // configuring the pwm pin 218 | PIO_Configure( 219 | pin_info::pio_p(), 220 | pin_info::type, 221 | pin_info::pin, 222 | pin_info::conf 223 | ); 224 | 225 | PWMC_ConfigureChannelExt( 226 | PWM_INTERFACE, 227 | pin_info::channel, 228 | pwm_core::clock_masks[_clock_], 229 | 0, // left aligned 230 | ( // polarity 231 | (_inverted_)? 232 | ((pin_info::inverted)? (1<<9): 0): 233 | ((pin_info::inverted)? 0: (1<<9)) 234 | ), 235 | 0, // interrupt on counter event at end's period 236 | 0, // dead-time disabled 237 | 0, // non inverted dead-time high output 238 | 0 // non inverted dead-time low output 239 | ); 240 | 241 | _period_=period; 242 | PWMC_SetPeriod( 243 | PWM_INTERFACE, 244 | pin_info::channel, 245 | static_cast( 246 | (static_cast(period)/100000000)/ 247 | pwm_core::tick_times[_clock_] 248 | ) 249 | ); 250 | 251 | PWMC_EnableChannel(PWM_INTERFACE,pin_info::channel); 252 | 253 | _duty_=duty; 254 | //PWMC_SetDutyCycle( 255 | pwm_core::pwmc_setdutycycle( 256 | PWM_INTERFACE, 257 | pin_info::channel, 258 | static_cast( 259 | (static_cast(duty)/100000000)/ 260 | pwm_core::tick_times[_clock_] 261 | ) 262 | ); 263 | 264 | _started_=true; 265 | } 266 | 267 | class pwm_base 268 | { 269 | public: 270 | virtual ~pwm_base() {} 271 | 272 | virtual bool start(uint32_t period, uint32_t duty) = 0; 273 | virtual void stop() = 0; 274 | virtual uint32_t get_duty() = 0; 275 | virtual bool set_duty(uint32_t duty) = 0; 276 | virtual bool set_period_and_duty( 277 | uint32_t period, 278 | uint32_t duty, 279 | bool keep_clock = true 280 | ) = 0; 281 | virtual uint32_t get_period() = 0; 282 | 283 | virtual uint32_t get_clock() = 0; 284 | }; 285 | 286 | template 287 | class pwm_wrapper: public pwm_base 288 | { 289 | public: 290 | 291 | pwm_wrapper(PWM_TYPE& pwm_obj): _pwm_obj_(pwm_obj) {} 292 | 293 | pwm_wrapper(const pwm_wrapper& the_pwm) = delete; 294 | pwm_wrapper(pwm_wrapper&& the_pwm) = delete; 295 | pwm_wrapper& operator=(const pwm_wrapper& the_pwm) = delete; 296 | pwm_wrapper& operator=(pwm_wrapper&& the_pwm) = delete; 297 | 298 | ~pwm_wrapper() override {} 299 | 300 | bool start(uint32_t period, uint32_t duty) override 301 | { return _pwm_obj_.start(period,duty); } 302 | 303 | void stop() override 304 | { _pwm_obj_.stop(); } 305 | 306 | uint32_t get_duty() override 307 | { return _pwm_obj_.get_duty(); } 308 | 309 | bool set_duty(uint32_t duty) override 310 | { return _pwm_obj_.set_duty(duty); } 311 | 312 | bool set_period_and_duty( 313 | uint32_t period, 314 | uint32_t duty, 315 | bool keep_clock = true 316 | ) override 317 | { return _pwm_obj_.set_period_and_duty(period,duty,keep_clock); } 318 | 319 | uint32_t get_period() override 320 | { return _pwm_obj_.get_period(); } 321 | 322 | uint32_t get_clock() override 323 | { return _pwm_obj_.get_clock(); } 324 | 325 | private: 326 | 327 | PWM_TYPE& _pwm_obj_; 328 | }; 329 | 330 | template 331 | class servo 332 | { 333 | public: 334 | 335 | using pin_info = pin_traits; 336 | using pwm_t = pwm; 337 | 338 | servo() = default; 339 | 340 | servo(const servo& the_servo) = delete; 341 | servo(servo&& the_servo) = delete; 342 | servo& operator=(const servo& the_servo) = delete; 343 | servo& operator=(servo&& the_servo) = delete; 344 | 345 | bool start( 346 | uint32_t period, // hundredths of usecs (1e-8 secs) 347 | uint32_t time_min, // hundredths of usecs (1e-8 secs) 348 | uint32_t time_max, // hundredths of usecs (1e-8 secs) 349 | uint32_t angle_min, // degrees 350 | uint32_t angle_max, // degress 351 | uint32_t duty // degress 352 | ); 353 | 354 | void stop() { _pwm_obj_.stop(); } 355 | 356 | uint32_t get_angle() { return _angle_; } 357 | 358 | bool set_angle(uint32_t angle /* degrees */) 359 | { 360 | if( 361 | !pwm_core::is_inside(_a_min_,_a_max_,angle) 362 | ) return false; 363 | 364 | _angle_=angle; 365 | 366 | uint32_t duty= 367 | ( 368 | static_cast(angle-_a_min_)/ 369 | static_cast(_a_max_-_a_min_) 370 | )*(_t_max_-_t_min_) + _t_min_; 371 | 372 | if(_pwm_obj_.set_duty(duty)) { _angle_=angle; return true; } 373 | 374 | return false; 375 | } 376 | 377 | uint32_t get_period() { return _pwm_obj_.get_period(); } 378 | uint32_t get_t_min() { return _t_min_; } 379 | uint32_t get_t_max() { return _t_max_; } 380 | uint32_t get_a_min() { return _a_min_; } 381 | uint32_t get_a_max() { return _a_max_; } 382 | 383 | private: 384 | 385 | pwm_t _pwm_obj_; 386 | 387 | uint32_t _t_min_; // hundredth of usecs (1e-8 secs) 388 | uint32_t _t_max_; // hundredth of usecs (1e-8 secs) 389 | 390 | uint32_t _a_min_; // degrees 391 | uint32_t _a_max_; // degrees 392 | 393 | uint32_t _angle_; // degrees 394 | }; 395 | 396 | template 397 | bool servo::start( 398 | uint32_t period, // hundredths of usecs (1e-8 secs) 399 | uint32_t time_min, // hundredths of usecs (1e-8 secs) 400 | uint32_t time_max, // hundredths of usecs (1e-8 secs) 401 | uint32_t angle_min, // degrees 402 | uint32_t angle_max, // degress 403 | uint32_t duty_angle // degress 404 | ) 405 | { 406 | if( 407 | (angle_min>angle_max) || (time_min>time_max) || 408 | (period(0,360,angle_min) || 410 | !pwm_core::is_inside(0,360,angle_max) || 411 | !pwm_core::is_inside(angle_min,angle_max,duty_angle) 412 | ) return false; 413 | 414 | uint32_t duty= 415 | ( 416 | static_cast(duty_angle-angle_min)/ 417 | static_cast(angle_max-angle_min) 418 | )*(time_max-time_min) + time_min; 419 | 420 | if(_pwm_obj_.start(period,duty)) 421 | { 422 | _t_min_=time_min; _t_max_=time_max; 423 | _a_min_=angle_min; _a_max_=angle_max; 424 | _angle_=duty_angle; 425 | return true; 426 | } 427 | 428 | return false; 429 | } 430 | 431 | class servo_base 432 | { 433 | public: 434 | 435 | virtual ~servo_base() {} 436 | 437 | virtual bool start( 438 | uint32_t period, // hundredths of usecs (1e-8 secs) 439 | uint32_t time_min, // hundredths of usecs (1e-8 secs) 440 | uint32_t time_max, // hundredths of usecs (1e-8 secs) 441 | uint32_t angle_min, // degrees 442 | uint32_t angle_max, // degress 443 | uint32_t duty // degress 444 | ) = 0; 445 | virtual void stop() = 0; 446 | virtual uint32_t get_angle() = 0; 447 | virtual bool set_angle(uint32_t angle /* degrees */) = 0; 448 | virtual uint32_t get_period() = 0; 449 | virtual uint32_t get_t_min() = 0; 450 | virtual uint32_t get_t_max() = 0; 451 | virtual uint32_t get_a_min() = 0; 452 | virtual uint32_t get_a_max() = 0; 453 | }; 454 | 455 | template 456 | class servo_wrapper: public servo_base 457 | { 458 | public: 459 | 460 | servo_wrapper(SERVO_TYPE& servo_obj): _servo_obj_(servo_obj) {} 461 | ~servo_wrapper() override {} 462 | 463 | bool start( 464 | uint32_t period, // hundredths of usecs (1e-8 secs) 465 | uint32_t time_min, // hundredths of usecs (1e-8 secs) 466 | uint32_t time_max, // hundredths of usecs (1e-8 secs) 467 | uint32_t angle_min, // degrees 468 | uint32_t angle_max, // degress 469 | uint32_t duty // degress 470 | ) override 471 | { 472 | return _servo_obj_.start( 473 | period, 474 | time_min, 475 | time_max, 476 | angle_min, 477 | angle_max, 478 | duty 479 | ); 480 | } 481 | 482 | void stop() override { _servo_obj_.stop(); } 483 | 484 | uint32_t get_angle() override 485 | { return _servo_obj_.get_angle(); } 486 | 487 | bool set_angle(uint32_t angle) override 488 | { return _servo_obj_.set_angle(angle); } 489 | 490 | uint32_t get_period() override 491 | { return _servo_obj_.get_period(); } 492 | 493 | uint32_t get_t_min() override 494 | { return _servo_obj_.get_t_min(); } 495 | 496 | uint32_t get_t_max() override 497 | { return _servo_obj_.get_t_max(); } 498 | 499 | uint32_t get_a_min() override 500 | { return _servo_obj_.get_a_min(); } 501 | 502 | uint32_t get_a_max() override 503 | { return _servo_obj_.get_a_max(); } 504 | 505 | private: 506 | 507 | SERVO_TYPE& _servo_obj_; 508 | }; 509 | 510 | } 511 | 512 | } 513 | 514 | #endif // PWM_LIB_H 515 | 516 | 517 | 518 | 519 | -------------------------------------------------------------------------------- /COPYING: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | --------------------------------------------------------------------------------