Revision: 1758
Author: robhamerling
Date: Tue Mar 9 00:33:13 2010
Log: Removed timer0 aliases from servo library
Required aliases are now in device files.
http://code.google.com/p/jallib/source/detail?r=1758
Modified:
/trunk/include/external/motor/servo/servo.jal
=======================================
--- /trunk/include/external/motor/servo/servo.jal Thu Feb 18 16:51:18 2010
+++ /trunk/include/external/motor/servo/servo.jal Tue Mar 9 00:33:13 2010
@@ -1,6 +1,6 @@
-- Title: servo control library
-- Author: Matthew Schinkel - borntechi.com, copyright (c) 2009, all
rights reserved.
--- Adapted-by:
+-- Adapted-by: Rob Hamerling
-- Compiler: >=2.4m
--
-- This file is part of jallib (http://jallib.googlecode.com)
@@ -15,16 +15,16 @@
-- 1. Set your SERVO_MIN values to restrict movement.
-- This step must be completed correctly. First use code as follows
-- directly after you call servo_init()
---
+-- .
-- servo_move(0,1)
-- forever loop
-- end loop
---
+-- .
-- Now run your circuit and gradually change SERVO_MIN value so the
servo
-- is at the correct location on one side. Try to get the servo to be
-- 1mm from it's min location.
-- 2. Repeate step 1 with SERVO_MAX but use this:
---
+-- .
-- servo_move(255,1)
-- forever loop
-- end loop
@@ -58,14 +58,8 @@
-- setup servo 1 to 8 timer aliases for the timer the user selected
if SERVO_USE_TIMER == 0 then
- -- aliases timer0 for 16f PICs
- if target_cpu == PIC_14 then
- alias t0con_t0cs is option_reg_t0cs
- alias t0con_psa is option_reg_psa
- alias t0con_t0ps is option_reg_ps
- end if
-- set special timer0 settings
- t0con_psa = 0 -- assign prescaler to timer0
+ t0con_psa = 0 -- assign prescaler to timer0
-- set timer registers to timer0
alias servo_tmr is tmr0 -- timer interval
alias servo_cs is t0con_t0cs -- timer clock source bit
@@ -106,11 +100,11 @@
--------------------------------------------------------------------------------
procedure _servo_set_level(byte in servo_num, bit in level) is
pragma inline
-
+
if servo_num == 0 & servo_1_on then
servo_1 = level
end if
-
+
if defined(servo_2) == TRUE then
if servo_num == 1 & servo_2_on then
servo_2 = level
@@ -161,7 +155,7 @@
procedure _servo_isr() is
pragma interrupt
-
+
if servo_if then -- check if it is a timer interupt
if _servo_isr_count == 0 then -- do the servo
pulse (high)
servo_if = off -- reset counter
@@ -194,14 +188,14 @@
calc1 = (location2 * _SERVO_CALC_DIFF)
calc2 = calc1 / 255
final = calc2 + servo_min
-
+
if SERVO_USE_TIMER == 0 then -- if 8 bit timer 0
var byte final2
-- change final into a byte
var byte val[1] at final
final2 = val[0]
-
+
;calculate the pulse length
calc1 = (final2 * servo_steps_per_2_5_msec)
final = calc1 / 255
@@ -216,20 +210,20 @@
else -- if 16 bit timer1 or timer3
var dword final2
var word final3
-
+
-- change final into a word
var byte val[2] at final
final2 = (val[1] << 8) + val[0]
-
+
;calculate the pulse length
calc1 = (final2 * servo_steps_per_2_5_msec)
final = calc1 / 255
-
+
-- change final into a word
var byte val2[2] at final
final3 = val2[1]
final3 = (final3 <<8) + val2[0]
-
+
-- set the timer value
_servo_pulse[servo_number - 1] = (65535 - final3) -- move servo 1 by
pulse length
_servo_low[servo_number - 1] = (65535 - _servo_pulse[servo_number -
1]) + (65535 - servo_steps_per_2_5_msec)
@@ -243,14 +237,14 @@
-- enable global interupts
INTCON_GIE = on -- Enables all unmasked interrupts
INTCON_PEIE = on -- Enables all unmasked peripheral interrupts
-
+
servo_if = off -- clear interupt overflow bit
servo_ie = on -- timer overflow interupt enable
servo_cs = 0 -- use internal clock for timer
-
+
if SERVO_USE_TIMER == 0 then
-- timer0 min step time of (1/osc)*16. (0.8us at 20mhz)
-
+
-- calculate number of steps available within 2.5ms ;example on 20mhz
const dword SERVO_CALC_1 = target_clock / 10_000 ;= 2000
const dword SERVO_CALC_2 = SERVO_CALC_1 / 4 ;= 500
@@ -268,7 +262,7 @@
exit loop
end if
end loop
-
+
-- servo_steps is now calculated, set the prescaller
servo_ps = servo_prescaler
@@ -294,7 +288,7 @@
exit loop
end if
end loop
-
+
-- servo_steps is now calculated, set the prescaller
servo_ps = servo_prescaler
--
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