Infineon xmc attached

src/Servo.h

@@ -75,8 +75,10 @@
 #include "mbed/ServoTimers.h"
 #elif defined(ARDUINO_ARCH_RENESAS)
 #include "renesas/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_XMC)
+#include "xmc/ServoTimers.h"
 #else
-#error "This library only supports boards with an AVR, SAM, SAMD, NRF52 or STM32F4 processor."
+#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4, Renesas or XMC processor."
 #endif
 
 #define Servo_VERSION           2     // software version of this library
@@ -91,7 +93,7 @@
 
 #define INVALID_SERVO         255     // flag indicating an invalid servo index
 
-#if !defined(ARDUINO_ARCH_STM32F4)
+#if !defined(ARDUINO_ARCH_STM32F4) && !defined(ARDUINO_ARCH_XMC)
 
 typedef struct  {
   uint8_t nbr        :6 ;             // a pin number from 0 to 63

src/xmc/Servo.cpp

@@ -0,0 +1,165 @@
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2010, LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+#if defined(ARDUINO_ARCH_XMC)
+
+#include "ServoTimers.h"
+
+       uint8_t _ServoCount = 1;                                  // internal counter to check if max numbers of servos is reached
+static uint8_t _allowed[MAX_PWM_SERVOS] = ALLOWED_PINS;          // internal array to check allowed pwm pins
+static uint8_t _servos[MAX_PWM_SERVOS];                          // static array of used servo pins for checking
+
+
+/**
+ * @brief None blocking wait loop.
+ *
+ * @param uS microseconds to wait
+ */
+static void _delayUs(unsigned long uS)
+{
+    unsigned long time_now = micros();
+    while (micros() < time_now + uS)
+        ;
+}
+
+
+Servo::Servo()
+{
+    if (_ServoCount <= MAX_PWM_SERVOS )
+    {
+        this->servoIndex = _ServoCount++;
+
+        this->_minAngle = MIN_ANGLE;
+        this->_maxAngle = MAX_ANGLE;
+        this->_minPW = MIN_PULSE_WIDTH;
+        this->_maxPW = MAX_PULSE_WIDTH;
+        this->_pin = 0;
+        this->_isActive = false;
+        this->_pwm = 0;
+        this->_deg = 0.0;
+    }else{
+        this->servoIndex = INVALID_SERVO;
+    }
+}
+
+uint8_t Servo::attach(uint8_t pin, uint16_t min, uint16_t max)
+{
+    if (this->servoIndex <= MAX_PWM_SERVOS )
+    {
+        // validate selected pin
+        bool pin_allowed = false;
+        for( int i = 0; i < MAX_PWM_SERVOS; i++)
+        {
+            // check if pin already in use
+            if ( _servos[i] == pin)
+                return INVALID_SERVO;
+
+            // check if selected pin has a pwm unit on the used XMC board
+            if ( _allowed[i] == pin)
+                pin_allowed = true;
+        }
+        // return if pin is not found in allowed pin list
+        if ( !pin_allowed )
+            return INVALID_SERVO;
+
+        // Set min/max values according the input and check for absolute limits
+        if (min < MIN_PULSE_CHECK)
+        {
+            this->_minAngle = constrain(min,MIN_ANGLE,MAX_ANGLE);
+            this->_minPW = MIN_PULSE_WIDTH;
+        } else {
+            this->_minAngle = MIN_ANGLE;  //TODO has to calculated
+            this->_minPW = constrain(min,MIN_PULSE_WIDTH,MAX_PULSE_WIDTH);
+        }
+
+        if (max < MIN_PULSE_CHECK)
+        {
+            this->_maxAngle = constrain(max,MIN_ANGLE,MAX_ANGLE);
+            this->_maxPW = 2 * MAX_PULSE_WIDTH;
+        } else {
+            this->_maxAngle = MAX_ANGLE;  //TODO has to calculated
+            this->_maxPW = constrain(max,MIN_PULSE_WIDTH,MAX_PULSE_WIDTH);
+        }
+
+        this->_pin      = pin;
+        this->_isActive = true;
+
+        setAnalogWriteFrequency(this->_pin, REFRESH_FREQUENCY);
+        analogWriteResolution(ADC_RESOLUTION);
+
+    }
+
+    return this->servoIndex;
+}
+
+
+void Servo::detach()
+{
+    this->servoIndex = _ServoCount--;
+
+    this->_minAngle = MIN_ANGLE;
+    this->_maxAngle = MAX_ANGLE;
+    this->_minPW = MIN_PULSE_WIDTH;
+    this->_maxPW = MAX_PULSE_WIDTH;
+
+    this->_pin = 0;
+    this->_isActive = false;
+    this->_pwm = 0;
+    this->_deg = 0.0;
+}
+
+void Servo::write(int value)
+{
+    if (value < MIN_PULSE_CHECK)
+    {
+        // angle must be inside the boundaries
+        double angle = constrain(value, this->_minAngle, this->_maxAngle);
+        double dutyCycle = ( 0.5 + ( angle / MAX_ANGLE ) * 2.0 ) * DUTYCYCLE_STEPS;
+
+        this->_deg = angle;
+        this->_pwm = uint16_t(dutyCycle);
+
+        analogWrite(this->_pin, uint16_t(dutyCycle));
+        _delayUs(50);
+    } else {
+        writeMicroseconds(value);
+    }
+}
+
+void Servo::writeMicroseconds(int value)
+{
+    // value must be inside the boundaries
+    double pw = constrain(value,this->_minPW, this->_maxPW);
+    double dutyCycle = map(pw, MIN_PULSE_WIDTH,MAX_PULSE_WIDTH, 0.5 * DUTYCYCLE_STEPS, 2.5 * DUTYCYCLE_STEPS);
+
+    this->_deg = ( dutyCycle - DUTYCYCLE_STEPS * 0.5 ) * MAX_ANGLE / ( 2 * DUTYCYCLE_STEPS );
+    this->_pwm = uint16_t(dutyCycle);
+
+    analogWrite(this->_pin, uint16_t(dutyCycle));
+    _delayUs(50);
+}
+
+#endif