954f9e5065
Move libmaple/*.h to (new) libmaple/include/libmaple/. The new accepted way to include a libmaple header foo.h is with: #include <libmaple/foo.h> This is more polite in terms of the include namespace. It also allows us to e.g. implement the Arduino SPI library at all (which has header SPI.h; providing it was previously impossible on case-insensitive filesystems due to libmaple's spi.h). Similarly for Wirish. The old include style (#include "header.h") is now deprecated. libmaple/*.h: - Change include guard #defines from _FOO_H_ to _LIBMAPLE_FOO_H_. - Add license headers where they're missing - Add conditional extern "C" { ... } blocks where they're missing (they aren't always necessary, but we might was well do it against the future, while we're at it.). - Change includes from #include "foo.h" to #include <libmaple/foo.h>. - Move includes after extern "C". - Remove extra trailing newlines Note that this doesn't include the headers under libmaple/usb/ or libmaple/usb/usb_lib. These will get fixed later. libmaple/*.c: - Change includes from #include "foo.h" to #include <libmaple/foo.h>. Makefile: - Add I$(LIBMAPLE_PATH)/include/libmaple to GLOBAL_FLAGS. This allows for users (including Wirish) to migrate their code, but should go away ASAP, since it slows down compilation. Wirish: - Move wirish/**/*.h to (new) wirish/include/wirish/. This ignores the USB headers, which, as usual, are getting handled after everything else. - Similarly generify wirish/boards/ structure. For each supported board "foo", move wirish/boards/foo.h and wirish/boards/foo.cpp to wirish/boards/foo/include/board/board.h and wirish/boards/foo/board.cpp, respectively. Also remove the #ifdef hacks around the .cpp files. - wirish/rules.mk: put wirish/boards/foo/include in the include path (and add wirish/boards/foo/board.cpp to the list of sources to be compiled). This allows saying: #include <board/board.h> instead of the hack currently in place. We can allow the user to override this setting later to make adding custom board definitions easier. - Disable -Werror in libmaple/rules.mk, as the current USB warnings don't let the olimex_stm32_h103 board compile. We can re-enable -Werror once we've moved the board-specific bits out of libmaple proper. libraries, examples: - Update includes accordingly. - Miscellaneous cosmetic fixups. Signed-off-by: Marti Bolivar <mbolivar@leaflabs.com>
153 lines
3.7 KiB
C++
153 lines
3.7 KiB
C++
/*
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* Basic Servo library test program.
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*
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* Setup:
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*
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* - Connect a potentiometer to POT_PIN (default pin 15)
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* - Connect an oscilloscope to SERVO_PIN1 (default pin 5) and
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* SERVO_PIN2 (default pin 6).
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* - Connect a serial monitor to SerialUSB
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*
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* The potentiometer controls the target angle for each of two Servo
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* objects, one with angles in [-90, 90], and another in [0, 180].
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* Servo pulse width range is [1000, 2000].
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*
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* Serial2 will tell you what inputs it's giving to each servo object,
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* and some information it gets back. Pressing the button
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* detaches/reattaches the Servo objects.
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*
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* Tests you should perform:
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*
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* - Check calculated pulse widths for each servo's target angle
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* - Check that calculated pulse widths match actual pulse widths
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* - Check that the period of the pulse train is roughly 20 ms
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* - Check that the pulses stop when detached, and resume when reattached
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* - Check that Servo::write() and Servo::read() round-trip properly
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*
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* This file is released into the public domain.
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*/
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#include <stdio.h>
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#include <wirish/wirish.h>
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#include "libraries/Servo/Servo.h"
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#define POT_PIN 15
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#define MIN_PW 1000
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#define MAX_PW 2000
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#define SERVO_PIN1 5
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#define MIN_ANGLE1 0
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#define MAX_ANGLE1 180
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#define SERVO_PIN2 6
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#define MIN_ANGLE2 (-90)
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#define MAX_ANGLE2 90
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Servo servo1;
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Servo servo2;
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#define BUF_SIZE 100
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char buf[BUF_SIZE];
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#define print_buf(fmt, ...) do { \
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snprintf(buf, BUF_SIZE, fmt, __VA_ARGS__); \
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Serial2.println(buf); } while (0)
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int averageAnalogReads(int);
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void attach();
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void detach();
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void setup() {
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pinMode(POT_PIN, INPUT_ANALOG);
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pinMode(BOARD_BUTTON_PIN, INPUT);
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pinMode(BOARD_LED_PIN, OUTPUT);
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Serial2.begin(9600);
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servo1.attach(SERVO_PIN1, MIN_PW, MAX_PW, MIN_ANGLE1, MAX_ANGLE1);
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servo2.attach(SERVO_PIN2, MIN_PW, MAX_PW, MIN_ANGLE2, MAX_ANGLE2);
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ASSERT(servo1.attachedPin() == SERVO_PIN1);
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ASSERT(servo2.attachedPin() == SERVO_PIN2);
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}
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void loop() {
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delay(250);
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toggleLED();
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if (isButtonPressed()) {
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if (servo1.attached()) detach();
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else attach();
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}
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if (!servo1.attached()) return;
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int32 average = averageAnalogReads(250);
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int16 angle1 = (int16)map(average, 0, 4095, MIN_ANGLE1, MAX_ANGLE1);
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int16 angle2 = (int16)map(average, 0, 4095, MIN_ANGLE2, MAX_ANGLE2);
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print_buf("pot reading = %d, angle 1 = %d, angle 2 = %d.",
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average, angle1, angle2);
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servo1.write(angle1);
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servo2.write(angle2);
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int16 read1 = servo1.read();
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int16 read2 = servo2.read();
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print_buf("write/read angle 1: %d/%d, angle 2: %d/%d",
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angle1, read1, angle2, read2);
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ASSERT(abs(angle1 - read1) <= 1);
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ASSERT(abs(angle2 - read2) <= 1);
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print_buf("pulse width 1: %d, pulse width 2: %d",
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servo1.readMicroseconds(), servo2.readMicroseconds());
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Serial2.println("\n--------------------------\n");
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}
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int32 averageAnalogReads(int n) {
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uint64 total = 0;
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for (int i = 0; i < n; i++) {
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total += analogRead(POT_PIN);
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}
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return (int32)(total / n);
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}
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void attach() {
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Serial2.println("attaching");
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servo1.attach(SERVO_PIN1);
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servo2.attach(SERVO_PIN2);
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ASSERT(servo1.attachedPin() == SERVO_PIN1);
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ASSERT(servo2.attachedPin() == SERVO_PIN2);
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}
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void detach() {
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Serial2.println("detaching");
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servo1.detach();
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servo2.detach();
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ASSERT(!servo1.attached());
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ASSERT(!servo2.attached());
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}
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// Force init to be called *first*, i.e. before static object allocation.
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// Otherwise, statically allocated objects that need libmaple may fail.
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__attribute__((constructor)) void premain() {
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init();
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}
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int main(void) {
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setup();
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while (true) {
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loop();
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}
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return 0;
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}
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