Revision: 1878
Author: [email protected]
Date: Tue Apr 6 00:11:25 2010
Log: torelease servo library + samples
http://code.google.com/p/jallib/source/detail?r=1878
Added:
/trunk/sample/16f877a_servo_rc_master_dedicated_master_i2c.jal
/trunk/sample/16f877a_servo_rc_master_dedicated_slave_i2c.jal
/trunk/sample/18f452_servo_rc_master_dedicated_master_i2c.jal
/trunk/sample/18f4620_servo_rc_master_dedicated_slave_i2c.jal
Modified:
/trunk/TORELEASE
/trunk/sample/16f877a_servo_rc_master.jal
/trunk/sample/18f452_servo_rc_master.jal
/trunk/sample/18f452_servo_rc_master_dedicated_slave_i2c.jal
/trunk/sample/18f4620_servo_rc_master_dedicated_master_i2c.jal
=======================================
--- /dev/null
+++ /trunk/sample/16f877a_servo_rc_master_dedicated_master_i2c.jal Tue Apr
6 00:11:25 2010
@@ -0,0 +1,95 @@
+-- Title: Sample master to control a dedicated RC servo controller PIC
+-- Author: Matthew Schinkel - borntechi.com, copyright (c) 2009, all
rights reserved.
+-- Adapted-by:
+-- Compiler: >=2.4m
+--
+-- This file is part of jallib (http://jallib.googlecode.com)
+-- Released under the BSD license
(http://www.opensource.org/licenses/bsd-license.php)
+--
+-- Description: This sample controls an external PIC that acts as a slave
device
+-- and is a dedicated PIC for servo movements. Slave PIC can
support
+-- 24 servos that are the type used in radio control (RC)
+--
+-- Notes:
+-- See other servo samples before using this one
+--
+-- Master clock/oscillator should be equal or less then slave clock/osc
+-- otherwise you may need to limit I2C bus speed.
+--
+-- The external pic should be written with a sample such as
+-- 18fxxx_servo_rc_master_dedicated_slave_i2c.jal
+--
+-- Sources:
+--
http://www.horrorseek.com/home/halloween/wolfstone/Motors/svoint_RCServos.html
+--
+
+-- include chip
+include 16f877a -- target PICmicro
+pragma target clock 20_000_000 -- oscillator frequency
+-- configure fuses
+pragma target OSC HS -- HS crystal or resonator
+pragma target WDT disabled -- no watchdog
+pragma target LVP disabled -- no Low Voltage Programming
+
+enable_digital_io() -- make all pins digital I/O
+-- Setup I2C
+--
+-- I2C pin definition
+alias i2c_scl is pin_c3
+alias i2c_scl_direction is pin_c3_direction
+alias i2c_sda is pin_c4
+alias i2c_sda_direction is pin_c4_direction
+--
+const word _i2c_bus_speed = 4 -- 400kHz
+const bit _i2c_level = true -- i2c levels (not SMB)
+include i2c_software -- include i2c software lib
+i2c_initialize() -- initialize i2c lib
+
+-- Setup the dedicated pic servo library, to control an external servo pic.
+--
+-- specify weather to wait for slave device to be ready before continuing
+-- main program. If set to false you must check the ready bit via ready
function,
+-- or delay 1ms between commands.
+const byte SERVO_RC_MASTER_DEDICATED_WAIT = TRUE
+--
+-- include the dedicated servo library.
+-- slave/dedicated pic runs servo_rc_master library.
+include servo_rc_master_dedicated
+
+-- main program here
+var byte servo_ic_address = 0x6E -- the dedicate/external servo pic i2c
address
+
+-- set min/max movement. servo number cannot be selected, changing min/max
+-- movement affects all servo's. if you do not sendA these 2 commands,
+-- the default is min 50, max 250 (500us to 2.50ms pulses)
+servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MIN, 50, 0)
+servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MAX, 250, 0)
+
+forever loop
+ -- move pic 1 & 17 to center position
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 127,
1)
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 127,
17)
+ _usec_delay(1_000_000)
+
+ -- move pic 1 & 17 to one side
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 255,
1)
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 255,
17)
+ _usec_delay(1_000_000)
+
+ -- move pic 1 & 17 to center position
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 127,
1)
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 127,
17)
+ _usec_delay(1_000_000)
+
+ -- move pic 1 & 17 to other side
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 0, 1)
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 0,
17)
+ _usec_delay(1_000_000)
+
+ -- reverse direction of servo 1
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_REVERSE,
TRUE, 1)
+
+ -- turn off servo 17
+ ;servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_ON_OFF,
OFF, 17)
+end loop
+
=======================================
--- /dev/null
+++ /trunk/sample/16f877a_servo_rc_master_dedicated_slave_i2c.jal Tue Apr
6 00:11:25 2010
@@ -0,0 +1,408 @@
+-- Title: Sample of a dedicated RC servo controller PIC (slave PIC)
+-- Author: Matthew Schinkel - borntechi.com, copyright (c) 2009, all
rights reserved.
+-- Adapted-by:
+-- Compiler: >=2.4m
+--
+-- This file is part of jallib (http://jallib.googlecode.com)
+-- Released under the BSD license
(http://www.opensource.org/licenses/bsd-license.php)
+--
+-- Description: This sample creates a dedicated servo slave device that
+-- is a dedicated PIC for servo movements. Supports 24 servos
that
+-- are the type used in radio control (RC)
+--
+-- Notes:
+-- See other servo samples before using this one.
+--
+-- Master clock/oscillator should be equal or less then slave clock/osc
+-- otherwise you may need to limit I2C bus speed.
+--
+-- Sources:
+--
http://www.horrorseek.com/home/halloween/wolfstone/Motors/svoint_RCServos.html
+--
+
+-- include chip
+include 16f877a -- target PICmicro
+pragma target clock 20_000_000 -- oscillator frequency
+-- configure fuses
+pragma target OSC HS -- HS crystal or resonator
+pragma target WDT disabled -- no watchdog
+pragma target LVP disabled -- no Low Voltage Programming
+
+enable_digital_io() -- make all pins digital I/O
+
+--------------------------------------------------------------------------------
+-- setup servos
+--------------------------------------------------------------------------------
+
+-- setup servo pins
+alias servo_1 is pin_b0
+alias servo_1_direction is pin_b0_direction
+servo_1_direction = output
+--
+alias servo_2 is pin_b1
+alias servo_2_direction is pin_b1_direction
+servo_2_direction = output
+--
+alias servo_3 is pin_b2
+alias servo_3_direction is pin_b2_direction
+servo_3_direction = output
+--
+alias servo_4 is pin_b3
+alias servo_4_direction is pin_b3_direction
+servo_4_direction = output
+--
+alias servo_5 is pin_b4
+alias servo_5_direction is pin_b4_direction
+servo_5_direction = output
+--
+alias servo_6 is pin_b5
+alias servo_6_direction is pin_b5_direction
+servo_6_direction = output
+--
+alias servo_7 is pin_b6
+alias servo_7_direction is pin_b6_direction
+servo_7_direction = output
+--
+alias servo_8 is pin_b7
+alias servo_8_direction is pin_b7_direction
+servo_8_direction = output
+--
+alias servo_9 is pin_d0
+alias servo_9_direction is pin_d0_direction
+servo_9_direction = output
+--
+alias servo_10 is pin_d1
+alias servo_10_direction is pin_d1_direction
+servo_10_direction = output
+--
+alias servo_11 is pin_d2
+alias servo_11_direction is pin_d2_direction
+servo_11_direction = output
+--
+alias servo_12 is pin_d3
+alias servo_12_direction is pin_d3_direction
+servo_12_direction = output
+--
+alias servo_13 is pin_d4
+alias servo_13_direction is pin_d4_direction
+servo_13_direction = output
+--
+alias servo_14 is pin_d5
+alias servo_14_direction is pin_d5_direction
+servo_14_direction = output
+--
+alias servo_15 is pin_d6
+alias servo_15_direction is pin_d6_direction
+servo_15_direction = output
+--
+alias servo_16 is pin_d7
+alias servo_16_direction is pin_d7_direction
+servo_16_direction = output
+;--
+;alias servo_17 is pin_a0
+;alias servo_17_direction is pin_a0_direction
+;servo_17_direction = output
+;--
+;alias servo_18 is pin_a1
+;alias servo_18_direction is pin_a1_direction
+;servo_18_direction = output
+;--
+;alias servo_19 is pin_a2
+;alias servo_19_direction is pin_a2_direction
+;servo_19_direction = output
+;--
+;alias servo_20 is pin_a3
+;alias servo_20_direction is pin_a3_direction
+;servo_20_direction = output
+;--
+;alias servo_21 is pin_a5
+;alias servo_21_direction is pin_a5_direction
+;servo_21_direction = output
+;--
+;alias servo_22 is pin_e0
+;alias servo_22_direction is pin_e0_direction
+;servo_22_direction = output
+;--
+;alias servo_23 is pin_e1
+;alias servo_23_direction is pin_e1_direction
+;servo_23_direction = output
+;--
+;alias servo_24 is pin_e2
+;alias servo_24_direction is pin_e2_direction
+;servo_24_direction = output
+
+
+-- choose min & max servo movment / pulse size
+var byte servo_min = 50 -- default is 50 (0.5ms min pulse)
+var byte servo_max = 250 -- default is 255 (2.5ms max pulse)
+
+-- choose pic internal timers
+const byte SERVO_USE_TIMER = 0 -- timer for servo's 1 to 8
+const byte SERVO_9_TO_16_USE_TIMER = 1 -- timer for servo's 9 to 16
+;const byte SERVO_17_TO_24_USE_TIMER = 3 -- timer for servo's 17 to 24
+include servo_rc_master -- include the servo library
+servo_init()
+
+--------------------------------------------------------------------------------
+-- setup i2c slave
+--------------------------------------------------------------------------------
+
+include i2c_hw_slave
+
+const byte SLAVE_ADDRESS = 0x6E -- address of this pic will be 0x6C
+i2c_hw_slave_init(SLAVE_ADDRESS) -- init I2C hw slave
+
+-- declare variables
+
+var byte servo_number -- servo number (first byte to be recieved)
+-- servo number holds the commands in 3 most segnificant bits
+var bit command_bit_0 at servo_number : 5
+var bit command_bit_1 at servo_number : 6
+var bit command_bit_2 at servo_number : 7
+var byte command
+
+var byte data -- holds command data or servo location
+var bit reverse_state at data : 0 -- reverse command - reverse state bit
(TRUE/FALSE)
+var bit on_off_state at data : 1 -- on_off command - reverse state bit
(ON/OFF)
+ALIAS servo_location is data -- servo location uses all bytes
+
+var byte byte_select = 0 -- counts byte number recieved from
master
+
+-- Command names & values, can be compared to most segnificant bits of
servo_number
+const byte COMMAND_MOVE = 0 -- move command
+const byte COMMAND_REVERSE = 1 -- reverse servo command
+const byte COMMAND_ON_OFF = 2 -- turn servo on/off
+const byte COMMAND_MIN = 3 -- set servo min movement
+const byte COMMAND_MAX = 4 -- set servo max movement
+
+-- When slave reads via I2C, this is the status byte
+-- error = Slave did not get the data correctly, data should be sent again
by master
+-- ready = Slave is ready for another command
+-- Other bits allow master to error check recieved data.
+var byte i2c_return_data
+var bit error at i2c_return_data : 7 -- error bit
+var bit ready at i2c_return_data : 6 -- ready bit
+var bit error2 at i2c_return_data : 5 -- error2 = same as error
+var bit ready2 at i2c_return_data : 4 -- ready2 = same as ready
+var bit error3 at i2c_return_data : 3 -- error3 = inverse of error
+var bit ready3 at i2c_return_data : 2 -- ready3 = inverse of ready
+var bit error4 at i2c_return_data : 1 -- error4 = inverse of error
+var bit ready4 at i2c_return_data : 0 -- ready4 = inverse of ready
+
+-- Before including i2c_hw_slave_isr library, several callbacks
+-- must be defined (callbacks are procedure which supposed to be defined
+-- and be called on appriopriate time)
+
+-- this callback is used when something wrong happened
+-- during communication between master and us
+procedure i2c_hw_slave_on_error() is
+ pragma inline
+end procedure
+
+-- this callback is used when master wants to talk to us
+-- and our i2c address has been recognized
+procedure i2c_hw_slave_on_state_1(byte in _trash) is
+ pragma inline
+ -- _trash is read from master, but it's a dummy data
+ -- usually (always ?) ignored
+ byte_select = 0 -- mark as 1st byte comming in
+end procedure
+
+-- This callback is used when master sends a data byte
+procedure i2c_hw_slave_on_state_2(byte in rcv) is
+ pragma inline
+
+ if byte_select == 0 then
+ servo_number = rcv -- get the servo number/command
+ byte_select = byte_select + 1 -- 2nd byte is next
+ elsif byte_select == 1 then
+ data = rcv -- get the data for the command
+ byte_select = byte_select + 1 -- 3rd byte is next
+ elsif byte_select == 2 then
+ -- get error checking bit and do xor
+ if (servo_number ^ data) == rcv then
+ error = false -- data recieved is ok, no
error
+ else
+ error = true -- data recieved is not ok,
error
+ end if
+
+ ready = FALSE -- allow main loop to run
+ end if
+
+end procedure
+
+-- this callback is used when master wants to read something
+-- from us. It should use i2c_hw_slave_write() to send something
+procedure i2c_hw_slave_on_state_3() is
+ pragma inline
+ error2 = error -- set error bit
+ ready2 = ready -- set ready bit
+
+ error3 = !error -- set inverse error bit
+ ready3 = !ready -- set inverse ready bit
+ error4 = !error -- set inverse error bit
+ ready4 = !ready -- set inverse ready bit
+
+ i2c_hw_slave_write_i2c(i2c_return_data) -- send data to master
+end procedure
+
+-- this callback is used when master, after having read something,
+-- still wants to read and get data from us.
+procedure i2c_hw_slave_on_state_4() is
+ pragma inline
+end procedure
+
+-- this callback is used when master does not want to talk
+-- with us anymore... This is an appropriate place to reset
+-- data for instance
+procedure i2c_hw_slave_on_state_5() is
+ pragma inline
+end procedure
+
+-- callbacks are defined, now include ISR
+include i2c_hw_slave_isr
+
+--------------------------------------------------------------------------------
+-- main program
+--------------------------------------------------------------------------------
+
+ready = TRUE -- device is ready for a command
+forever loop
+
+ -- stay ready until next command
+ while ready == TRUE loop
+ end loop
+
+ -- get the command type out of 3 MSB of servo_number
+ command = command_bit_2
+ command = (command << 1) + command_bit_1
+ command = (command << 1) + command_bit_0
+
+
+ if command == COMMAND_MOVE then
+ -- move the servo
+ servo_move (servo_location, servo_number)
+
+ elsif command == COMMAND_ON_OFF then
+ -- servo command bits are part of servo number so remove the command
bits
+ command_bit_0 = 0
+ command_bit_1 = 0
+ command_bit_2 = 0
+
+ -- set servo on/off state and direction
+ if servo_number == 1 then
+ servo_1_on = on_off_state
+ elsif servo_number == 2 then
+ servo_2_on = on_off_state
+ elsif servo_number == 3 then
+ servo_3_on = on_off_state
+ elsif servo_number == 4 then
+ servo_4_on = on_off_state
+ elsif servo_number == 5 then
+ servo_5_on = on_off_state
+ elsif servo_number == 6 then
+ servo_6_on = on_off_state
+ elsif servo_number == 7 then
+ servo_7_on = on_off_state
+ elsif servo_number == 8 then
+ servo_8_on = on_off_state
+ elsif servo_number == 9 then
+ servo_9_on = on_off_state
+ elsif servo_number == 10 then
+ servo_10_on = on_off_state
+ elsif servo_number == 11 then
+ servo_11_on = on_off_state
+ elsif servo_number == 12 then
+ servo_12_on = on_off_state
+ elsif servo_number == 13 then
+ servo_13_on = on_off_state
+ elsif servo_number == 14 then
+ servo_14_on = on_off_state
+ elsif servo_number == 15 then
+ servo_15_on = on_off_state
+ elsif servo_number == 16 then
+ servo_16_on = on_off_state
+; elsif servo_number == 17 then
+; servo_17_on = on_off_state
+; elsif servo_number == 18 then
+; servo_18_on = on_off_state
+; elsif servo_number == 19 then
+; servo_19_on = on_off_state
+; elsif servo_number == 20 then
+; servo_20_on = on_off_state
+; elsif servo_number == 21 then
+; servo_21_on = on_off_state
+; elsif servo_number == 22 then
+; servo_22_on = on_off_state
+; elsif servo_number == 23 then
+; servo_23_on = on_off_state
+; elsif servo_number == 24 then
+; servo_24_on = on_off_state
+
+ end if
+ elsif command == COMMAND_REVERSE then
+ -- servo command bits are part of servo number so remove the command
bits
+ command_bit_0 = 0
+ command_bit_1 = 0
+ command_bit_2 = 0
+
+ -- set servo on/off state and direction
+ if servo_number == 1 then
+ servo_1_reverse = reverse_state
+ elsif servo_number == 2 then
+ servo_2_reverse = reverse_state
+ elsif servo_number == 3 then
+ servo_3_reverse = reverse_state
+ elsif servo_number == 4 then
+ servo_4_reverse = reverse_state
+ elsif servo_number == 5 then
+ servo_5_reverse = reverse_state
+ elsif servo_number == 6 then
+ servo_6_reverse = reverse_state
+ elsif servo_number == 7 then
+ servo_7_reverse = reverse_state
+ elsif servo_number == 8 then
+ servo_8_reverse = reverse_state
+ elsif servo_number == 9 then
+ servo_9_reverse = reverse_state
+ elsif servo_number == 10 then
+ servo_10_reverse = reverse_state
+ elsif servo_number == 11 then
+ servo_11_reverse = reverse_state
+ elsif servo_number == 12 then
+ servo_12_reverse = reverse_state
+ elsif servo_number == 13 then
+ servo_13_reverse = reverse_state
+ elsif servo_number == 14 then
+ servo_14_reverse = reverse_state
+ elsif servo_number == 15 then
+ servo_15_reverse = reverse_state
+ elsif servo_number == 16 then
+ servo_16_reverse = reverse_state
+; elsif servo_number == 17 then
+; servo_17_reverse = reverse_state
+; elsif servo_number == 18 then
+; servo_18_reverse = reverse_state
+; elsif servo_number == 19 then
+; servo_19_reverse = reverse_state
+; elsif servo_number == 20 then
+; servo_20_reverse = reverse_state
+; elsif servo_number == 21 then
+; servo_21_reverse = reverse_state
+; elsif servo_number == 22 then
+; servo_22_reverse = reverse_state
+; elsif servo_number == 23 then
+; servo_23_reverse = reverse_state
+; elsif servo_number == 24 then
+; servo_24_reverse = reverse_state
+
+ end if
+
+ elsif command == COMMAND_MIN then
+ servo_min = data -- set servo min movement position
+ elsif command == COMMAND_MAX then
+ servo_max = data -- set servo mas movement position
+ end if
+
+ ready = TRUE -- set ready for next command
+end loop
=======================================
--- /dev/null
+++ /trunk/sample/18f452_servo_rc_master_dedicated_master_i2c.jal Tue Apr
6 00:11:25 2010
@@ -0,0 +1,95 @@
+-- Title: Sample master to control a dedicated RC servo controller PIC
+-- Author: Matthew Schinkel - borntechi.com, copyright (c) 2009, all
rights reserved.
+-- Adapted-by:
+-- Compiler: >=2.4m
+--
+-- This file is part of jallib (http://jallib.googlecode.com)
+-- Released under the BSD license
(http://www.opensource.org/licenses/bsd-license.php)
+--
+-- Description: This sample controls an external PIC that acts as a slave
device
+-- and is a dedicated PIC for servo movements. Slave PIC can
support
+-- 24 servos that are the type used in radio control (RC)
+--
+-- Notes:
+-- See other servo samples before using this one
+--
+-- Master clock/oscillator should be equal or less then slave clock/osc
+-- otherwise you may need to limit I2C bus speed.
+--
+-- The external pic should be written with a sample such as
+-- 18fxxx_servo_rc_master_dedicated_slave_i2c.jal
+--
+-- Sources:
+--
http://www.horrorseek.com/home/halloween/wolfstone/Motors/svoint_RCServos.html
+--
+
+-- include chip
+include 18f452 -- target picmicro
+pragma target clock 20_000_000 -- oscillator frequency
+-- configuration memory settings (fuses)
+pragma target OSC HS -- HS crystal or resonator
+pragma target WDT disabled -- no watchdog
+pragma target LVP disabled -- no Low Voltage Programming
+
+enable_digital_io() -- make all pins digital I/O
+-- Setup I2C
+--
+-- I2C pin definition
+alias i2c_scl is pin_c3
+alias i2c_scl_direction is pin_c3_direction
+alias i2c_sda is pin_c4
+alias i2c_sda_direction is pin_c4_direction
+--
+const word _i2c_bus_speed = 4 -- 400kHz
+const bit _i2c_level = true -- i2c levels (not SMB)
+include i2c_software -- include i2c software lib
+i2c_initialize() -- initialize i2c lib
+
+-- Setup the dedicated pic servo library, to control an external servo pic.
+--
+-- specify weather to wait for slave device to be ready before continuing
+-- main program. If set to false you must check the ready bit via ready
function,
+-- or delay 1ms between commands.
+const byte SERVO_RC_MASTER_DEDICATED_WAIT = TRUE
+--
+-- include the dedicated servo library.
+-- slave/dedicated pic runs servo_rc_master library.
+include servo_rc_master_dedicated
+
+-- main program here
+var byte servo_ic_address = 0x6E -- the dedicate/external servo pic i2c
address
+
+-- set min/max movement. servo number cannot be selected, changing min/max
+-- movement affects all servo's. if you do not sendA these 2 commands,
+-- the default is min 50, max 250 (500us to 2.50ms pulses)
+servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MIN, 50, 0)
+servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MAX, 250, 0)
+
+forever loop
+ -- move pic 1 & 17 to center position
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 127,
1)
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 127,
17)
+ _usec_delay(1_000_000)
+
+ -- move pic 1 & 17 to one side
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 255,
1)
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 255,
17)
+ _usec_delay(1_000_000)
+
+ -- move pic 1 & 17 to center position
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 127,
1)
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 127,
17)
+ _usec_delay(1_000_000)
+
+ -- move pic 1 & 17 to other side
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 0, 1)
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_MOVE, 0,
17)
+ _usec_delay(1_000_000)
+
+ -- reverse direction of servo 1
+ servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_REVERSE,
TRUE, 1)
+
+ -- turn off servo 17
+ ;servo_rc_send_command_i2c(servo_ic_address, SERVO_RC_COMMAND_ON_OFF,
OFF, 17)
+end loop
+
=======================================
--- /dev/null
+++ /trunk/sample/18f4620_servo_rc_master_dedicated_slave_i2c.jal Tue Apr
6 00:11:25 2010
@@ -0,0 +1,406 @@
+-- Title: Sample of a dedicated RC servo controller PIC (slave PIC)
+-- Author: Matthew Schinkel - borntechi.com, copyright (c) 2009, all
rights reserved.
+-- Adapted-by:
+-- Compiler: >=2.4m
+--
+-- This file is part of jallib (http://jallib.googlecode.com)
+-- Released under the BSD license
(http://www.opensource.org/licenses/bsd-license.php)
+--
+-- Description: This sample creates a dedicated servo slave device that
+-- is a dedicated PIC for servo movements. Supports 24 servos
that
+-- are the type used in radio control (RC)
+--
+-- Notes:
+-- See other servo samples before using this one.
+--
+-- Master clock/oscillator should be equal or less then slave clock/osc
+-- otherwise you may need to limit I2C bus speed.
+--
+-- Sources:
+--
http://www.horrorseek.com/home/halloween/wolfstone/Motors/svoint_RCServos.html
+--
+
+-- include chip
+include 18f4620 -- target PICmicro
+pragma target clock 20_000_000 -- oscillator frequency
+-- configuration memory settings (fuses)
+pragma target OSC HS -- HS crystal or resonator
+pragma target WDT disabled -- no watchdog
+pragma target LVP disabled -- no Low Voltage Programming
+pragma target MCLR external -- reset externally
+
+enable_digital_io() -- make all pins digital I/O
+
+--------------------------------------------------------------------------------
+-- setup servos
+--------------------------------------------------------------------------------
+
+-- setup servo pins
+alias servo_1 is pin_b0
+alias servo_1_direction is pin_b0_direction
+servo_1_direction = output
+--
+alias servo_2 is pin_b1
+alias servo_2_direction is pin_b1_direction
+servo_2_direction = output
+--
+alias servo_3 is pin_b2
+alias servo_3_direction is pin_b2_direction
+servo_3_direction = output
+--
+alias servo_4 is pin_b3
+alias servo_4_direction is pin_b3_direction
+servo_4_direction = output
+--
+alias servo_5 is pin_b4
+alias servo_5_direction is pin_b4_direction
+servo_5_direction = output
+--
+alias servo_6 is pin_b5
+alias servo_6_direction is pin_b5_direction
+servo_6_direction = output
+--
+alias servo_7 is pin_b6
+alias servo_7_direction is pin_b6_direction
+servo_7_direction = output
+--
+alias servo_8 is pin_b7
+alias servo_8_direction is pin_b7_direction
+servo_8_direction = output
+--
+alias servo_9 is pin_d0
+alias servo_9_direction is pin_d0_direction
+servo_9_direction = output
+--
+alias servo_10 is pin_d1
+alias servo_10_direction is pin_d1_direction
+servo_10_direction = output
+--
+alias servo_11 is pin_d2
+alias servo_11_direction is pin_d2_direction
+servo_11_direction = output
+--
+alias servo_12 is pin_d3
+alias servo_12_direction is pin_d3_direction
+servo_12_direction = output
+--
+alias servo_13 is pin_d4
+alias servo_13_direction is pin_d4_direction
+servo_13_direction = output
+--
+alias servo_14 is pin_d5
+alias servo_14_direction is pin_d5_direction
+servo_14_direction = output
+--
+alias servo_15 is pin_d6
+alias servo_15_direction is pin_d6_direction
+servo_15_direction = output
+--
+alias servo_16 is pin_d7
+alias servo_16_direction is pin_d7_direction
+servo_16_direction = output
+--
+alias servo_17 is pin_a0
+alias servo_17_direction is pin_a0_direction
+servo_17_direction = output
+--
+alias servo_18 is pin_a1
+alias servo_18_direction is pin_a1_direction
+servo_18_direction = output
+--
+alias servo_19 is pin_a2
+alias servo_19_direction is pin_a2_direction
+servo_19_direction = output
+--
+alias servo_20 is pin_a3
+alias servo_20_direction is pin_a3_direction
+servo_20_direction = output
+--
+alias servo_21 is pin_a5
+alias servo_21_direction is pin_a5_direction
+servo_21_direction = output
+--
+alias servo_22 is pin_e0
+alias servo_22_direction is pin_e0_direction
+servo_22_direction = output
+--
+alias servo_23 is pin_e1
+alias servo_23_direction is pin_e1_direction
+servo_23_direction = output
+--
+alias servo_24 is pin_e2
+alias servo_24_direction is pin_e2_direction
+servo_24_direction = output
+
+-- choose min & max servo movment / pulse size
+var byte servo_min = 50 -- default is 50 (0.5ms min pulse)
+var byte servo_max = 250 -- default is 255 (2.5ms max pulse)
+
+-- choose pic internal timers
+const byte SERVO_USE_TIMER = 1 -- timer for servo's 1 to 8
+const byte SERVO_9_TO_16_USE_TIMER = 3 -- timer for servo's 9 to 16
+const byte SERVO_17_TO_24_USE_TIMER = 0 -- timer for servo's 17 to 24
+include servo_rc_master -- include the servo library
+servo_init()
+
+--------------------------------------------------------------------------------
+-- setup i2c slave
+--------------------------------------------------------------------------------
+
+include i2c_hw_slave
+
+const byte SLAVE_ADDRESS = 0x6E -- address of this pic will be 0x6C
+i2c_hw_slave_init(SLAVE_ADDRESS) -- init I2C hw slave
+
+-- declare variables
+
+var byte servo_number -- servo number (first byte to be recieved)
+-- servo number holds the commands in 3 most segnificant bits
+var bit command_bit_0 at servo_number : 5
+var bit command_bit_1 at servo_number : 6
+var bit command_bit_2 at servo_number : 7
+var byte command
+
+var byte data -- holds command data or servo location
+var bit reverse_state at data : 0 -- reverse command - reverse state bit
(TRUE/FALSE)
+var bit on_off_state at data : 1 -- on_off command - reverse state bit
(ON/OFF)
+ALIAS servo_location is data -- servo location uses all bytes
+
+var byte byte_select = 0 -- counts byte number recieved from
master
+
+-- Command names & values, can be compared to most segnificant bits of
servo_number
+const byte COMMAND_MOVE = 0 -- move command
+const byte COMMAND_REVERSE = 1 -- reverse servo command
+const byte COMMAND_ON_OFF = 2 -- turn servo on/off
+const byte COMMAND_MIN = 3 -- set servo min movement
+const byte COMMAND_MAX = 4 -- set servo max movement
+
+-- When slave reads via I2C, this is the status byte
+-- error = Slave did not get the data correctly, data should be sent again
by master
+-- ready = Slave is ready for another command
+-- Other bits allow master to error check recieved data.
+var byte i2c_return_data
+var bit error at i2c_return_data : 7 -- error bit
+var bit ready at i2c_return_data : 6 -- ready bit
+var bit error2 at i2c_return_data : 5 -- error2 = same as error
+var bit ready2 at i2c_return_data : 4 -- ready2 = same as ready
+var bit error3 at i2c_return_data : 3 -- error3 = inverse of error
+var bit ready3 at i2c_return_data : 2 -- ready3 = inverse of ready
+var bit error4 at i2c_return_data : 1 -- error4 = inverse of error
+var bit ready4 at i2c_return_data : 0 -- ready4 = inverse of ready
+
+-- Before including i2c_hw_slave_isr library, several callbacks
+-- must be defined (callbacks are procedure which supposed to be defined
+-- and be called on appriopriate time)
+
+-- this callback is used when something wrong happened
+-- during communication between master and us
+procedure i2c_hw_slave_on_error() is
+ pragma inline
+end procedure
+
+-- this callback is used when master wants to talk to us
+-- and our i2c address has been recognized
+procedure i2c_hw_slave_on_state_1(byte in _trash) is
+ pragma inline
+ -- _trash is read from master, but it's a dummy data
+ -- usually (always ?) ignored
+ byte_select = 0 -- mark as 1st byte comming in
+end procedure
+
+-- This callback is used when master sends a data byte
+procedure i2c_hw_slave_on_state_2(byte in rcv) is
+ pragma inline
+
+ if byte_select == 0 then
+ servo_number = rcv -- get the servo number/command
+ byte_select = byte_select + 1 -- 2nd byte is next
+ elsif byte_select == 1 then
+ data = rcv -- get the data for the command
+ byte_select = byte_select + 1 -- 3rd byte is next
+ elsif byte_select == 2 then
+ -- get error checking bit and do xor
+ if (servo_number ^ data) == rcv then
+ error = false -- data recieved is ok, no
error
+ else
+ error = true -- data recieved is not ok,
error
+ end if
+
+ ready = FALSE -- allow main loop to run
+ end if
+
+end procedure
+
+-- this callback is used when master wants to read something
+-- from us. It should use i2c_hw_slave_write() to send something
+procedure i2c_hw_slave_on_state_3() is
+ pragma inline
+ error2 = error -- set error bit
+ ready2 = ready -- set ready bit
+
+ error3 = !error -- set inverse error bit
+ ready3 = !ready -- set inverse ready bit
+ error4 = !error -- set inverse error bit
+ ready4 = !ready -- set inverse ready bit
+
+ i2c_hw_slave_write_i2c(i2c_return_data) -- send data to master
+end procedure
+
+-- this callback is used when master, after having read something,
+-- still wants to read and get data from us.
+procedure i2c_hw_slave_on_state_4() is
+ pragma inline
+end procedure
+
+-- this callback is used when master does not want to talk
+-- with us anymore... This is an appropriate place to reset
+-- data for instance
+procedure i2c_hw_slave_on_state_5() is
+ pragma inline
+end procedure
+
+-- callbacks are defined, now include ISR
+include i2c_hw_slave_isr
+
+--------------------------------------------------------------------------------
+-- main program
+--------------------------------------------------------------------------------
+
+ready = TRUE -- device is ready for a command
+forever loop
+
+ -- stay ready until next command
+ while ready == TRUE loop
+ end loop
+
+ -- get the command type out of 3 MSB of servo_number
+ command = command_bit_2
+ command = (command << 1) + command_bit_1
+ command = (command << 1) + command_bit_0
+
+
+ if command == COMMAND_MOVE then
+ -- move the servo
+ servo_move (servo_location, servo_number)
+
+ elsif command == COMMAND_ON_OFF then
+ -- servo command bits are part of servo number so remove the command
bits
+ command_bit_0 = 0
+ command_bit_1 = 0
+ command_bit_2 = 0
+
+ -- set servo on/off state and direction
+ if servo_number == 1 then
+ servo_1_on = on_off_state
+ elsif servo_number == 2 then
+ servo_2_on = on_off_state
+ elsif servo_number == 3 then
+ servo_3_on = on_off_state
+ elsif servo_number == 4 then
+ servo_4_on = on_off_state
+ elsif servo_number == 5 then
+ servo_5_on = on_off_state
+ elsif servo_number == 6 then
+ servo_6_on = on_off_state
+ elsif servo_number == 7 then
+ servo_7_on = on_off_state
+ elsif servo_number == 8 then
+ servo_8_on = on_off_state
+ elsif servo_number == 9 then
+ servo_9_on = on_off_state
+ elsif servo_number == 10 then
+ servo_10_on = on_off_state
+ elsif servo_number == 11 then
+ servo_11_on = on_off_state
+ elsif servo_number == 12 then
+ servo_12_on = on_off_state
+ elsif servo_number == 13 then
+ servo_13_on = on_off_state
+ elsif servo_number == 14 then
+ servo_14_on = on_off_state
+ elsif servo_number == 15 then
+ servo_15_on = on_off_state
+ elsif servo_number == 16 then
+ servo_16_on = on_off_state
+ elsif servo_number == 17 then
+ servo_17_on = on_off_state
+ elsif servo_number == 18 then
+ servo_18_on = on_off_state
+ elsif servo_number == 19 then
+ servo_19_on = on_off_state
+ elsif servo_number == 20 then
+ servo_20_on = on_off_state
+ elsif servo_number == 21 then
+ servo_21_on = on_off_state
+ elsif servo_number == 22 then
+ servo_22_on = on_off_state
+ elsif servo_number == 23 then
+ servo_23_on = on_off_state
+ elsif servo_number == 24 then
+ servo_24_on = on_off_state
+ end if
+ elsif command == COMMAND_REVERSE then
+ -- servo command bits are part of servo number so remove the command
bits
+ command_bit_0 = 0
+ command_bit_1 = 0
+ command_bit_2 = 0
+
+ -- set servo on/off state and direction
+ if servo_number == 1 then
+ servo_1_reverse = reverse_state
+ elsif servo_number == 2 then
+ servo_2_reverse = reverse_state
+ elsif servo_number == 3 then
+ servo_3_reverse = reverse_state
+ elsif servo_number == 4 then
+ servo_4_reverse = reverse_state
+ elsif servo_number == 5 then
+ servo_5_reverse = reverse_state
+ elsif servo_number == 6 then
+ servo_6_reverse = reverse_state
+ elsif servo_number == 7 then
+ servo_7_reverse = reverse_state
+ elsif servo_number == 8 then
+ servo_8_reverse = reverse_state
+ elsif servo_number == 9 then
+ servo_9_reverse = reverse_state
+ elsif servo_number == 10 then
+ servo_10_reverse = reverse_state
+ elsif servo_number == 11 then
+ servo_11_reverse = reverse_state
+ elsif servo_number == 12 then
+ servo_12_reverse = reverse_state
+ elsif servo_number == 13 then
+ servo_13_reverse = reverse_state
+ elsif servo_number == 14 then
+ servo_14_reverse = reverse_state
+ elsif servo_number == 15 then
+ servo_15_reverse = reverse_state
+ elsif servo_number == 16 then
+ servo_16_reverse = reverse_state
+ elsif servo_number == 17 then
+ servo_17_reverse = reverse_state
+ elsif servo_number == 18 then
+ servo_18_reverse = reverse_state
+ elsif servo_number == 19 then
+ servo_19_reverse = reverse_state
+ elsif servo_number == 20 then
+ servo_20_reverse = reverse_state
+ elsif servo_number == 21 then
+ servo_21_reverse = reverse_state
+ elsif servo_number == 22 then
+ servo_22_reverse = reverse_state
+ elsif servo_number == 23 then
+ servo_23_reverse = reverse_state
+ elsif servo_number == 24 then
+ servo_24_reverse = reverse_state
+ end if
+
+ elsif command == COMMAND_MIN then
+ servo_min = data -- set servo min movement position
+ elsif command == COMMAND_MAX then
+ servo_max = data -- set servo mas movement position
+ end if
+
+ ready = TRUE -- set ready for next command
+end loop
=======================================
--- /trunk/TORELEASE Fri Apr 2 14:21:48 2010
+++ /trunk/TORELEASE Tue Apr 6 00:11:25 2010
@@ -245,6 +245,8 @@
include/external/lcd/lcd_sterm_master.jal
include/external/media/mp3_decoder_sta015.jal
include/external/ranger/ir/ir_ranger_gp2d02.jal
+include/external/motor/servo/servo_rc_master.jal
+include/external/motor/servo/servo_rc_master_dedicated.jal
include/external/seven_segment/seven_segment.jal
include/external/storage/eeprom/ee_25aa02e48.jal
include/external/storage/eeprom/eeprom_24lc256.jal
@@ -503,6 +505,9 @@
sample/16f877a_serial_hardware.jal
sample/16f877a_serial_hw_int_cts.jal
sample/16f877a_serial_print.jal
+sample/16f877a_servo_rc_master.jal
+sample/16f877a_servo_rc_master_dedicated_master_i2c.jal
+sample/16f877a_servo_rc_master_dedicated_slave_i2c.jal
sample/16f877a_seven_segment.jal
sample/16f877a_startersguide.jal
sample/16f88_adc_highres.jal
@@ -700,6 +705,9 @@
sample/18f452_mp3_decoder_sta015_sd_card.jal
sample/18f452_pata_hard_disk.jal
sample/18f452_sd_card.jal
+sample/18f452_servo_rc_master.jal
+sample/18f452_servo_rc_master_dedicated_master_i2c.jal
+sample/18f452_servo_rc_master_dedicated_slave_i2c.jal
sample/18f4520_blink.jal
sample/18f4523_blink.jal
sample/18f4525_blink.jal
@@ -745,6 +753,9 @@
sample/18f4620_blink.jal
sample/18f4620_mp3_decoder_sta015_pata_hard_disk.jal
sample/18f4620_mp3_decoder_sta015_sd_card.jal
+sample/18f4620_servo_rc_master.jal
+sample/18f4620_servo_rc_master_dedicated_master_i2c.jal
+sample/18f4620_servo_rc_master_dedicated_slave_i2c.jal
sample/18f4680_blink.jal
sample/18f4682_blink.jal
sample/18f4685_blink.jal
=======================================
--- /trunk/sample/16f877a_servo_rc_master.jal Mon Apr 5 23:46:18 2010
+++ /trunk/sample/16f877a_servo_rc_master.jal Tue Apr 6 00:11:25 2010
@@ -17,12 +17,9 @@
--
-- include chip
-include 16f877a -- target picmicro
-
--- This program assumes a 20 MHz resonator or crystal
--- is connected to pins OSC1 and OSC2.
+include 16f877a -- target PICmicro
pragma target clock 20_000_000 -- oscillator frequency
--- configuration memory settings (fuses)
+-- configure fuses
pragma target OSC HS -- HS crystal or resonator
pragma target WDT disabled -- no watchdog
pragma target LVP disabled -- no Low Voltage Programming
@@ -68,8 +65,8 @@
alias servo_8_direction is pin_b7_direction
servo_8_direction = output
--
-;alias servo_9 is pin_a1
-;alias servo_9_direction is pin_a1_direction
+;alias servo_9 is pin_a0
+;alias servo_9_direction is pin_a0_direction
;servo_9_direction = output
-- choose min & max servo movment / pulse size
@@ -85,7 +82,6 @@
-- use this to turn off a servo
;servo_1_on = FALSE
-;servo_1_reverse = TRUE
-- use this to reverse a servo
;servo_1_reverse = TRUE
=======================================
--- /trunk/sample/18f452_servo_rc_master.jal Mon Apr 5 23:46:18 2010
+++ /trunk/sample/18f452_servo_rc_master.jal Tue Apr 6 00:11:25 2010
@@ -17,10 +17,7 @@
--
-- include chip
-include 18F452 -- target picmicro
-
--- This program assumes a 20 MHz resonator or crystal
--- is connected to pins OSC1 and OSC2.
+include 18f452 -- target picmicro
pragma target clock 20_000_000 -- oscillator frequency
-- configuration memory settings (fuses)
pragma target OSC HS -- HS crystal or resonator
@@ -85,7 +82,6 @@
-- use this to turn off a servo
;servo_1_on = FALSE
-;servo_1_reverse = TRUE
-- use this to reverse a servo
;servo_1_reverse = TRUE
=======================================
--- /trunk/sample/18f452_servo_rc_master_dedicated_slave_i2c.jal Wed Mar 17
19:19:03 2010
+++ /trunk/sample/18f452_servo_rc_master_dedicated_slave_i2c.jal Tue Apr 6
00:11:25 2010
@@ -21,16 +21,15 @@
--
-- include chip
-include 18f452 -- target picmicro
---
--- This program assumes a 20 MHz resonator or crystal
--- is connected to pins OSC1 and OSC2.
+include 18f452 -- target picmicro
pragma target clock 20_000_000 -- oscillator frequency
-- configuration memory settings (fuses)
pragma target OSC HS -- HS crystal or resonator
pragma target WDT disabled -- no watchdog
pragma target LVP disabled -- no Low Voltage Programming
+enable_digital_io() -- make all pins digital I/O
+
--------------------------------------------------------------------------------
-- setup servos
--------------------------------------------------------------------------------
=======================================
--- /trunk/sample/18f4620_servo_rc_master_dedicated_master_i2c.jal Wed Mar
17 19:19:03 2010
+++ /trunk/sample/18f4620_servo_rc_master_dedicated_master_i2c.jal Tue Apr
6 00:11:25 2010
@@ -35,6 +35,8 @@
pragma target LVP disabled -- no Low Voltage Programming
pragma target MCLR external -- reset externally
+enable_digital_io() -- make all pins digital I/O
+
-- Setup I2C
--
-- I2C pin definition
--
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