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isp_i2c_pca9685_servo.spin2
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isp_i2c_pca9685_servo.spin2
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'' =================================================================================================
''
'' File....... isp_i2c_pca9685_servo.spin2
'' Purpose.... Servo Interface to underlying PCA9685 I2C Controller
'' Authors.... Stephen M Moraco
'' -- Copyright (c) 2021 Iron Sheep Productions, LLC
'' -- see below for terms of use
'' E-mail..... [email protected]
'' Started.... Jun 2021
'' Updated.... 06 Jun 2021
''
'' =================================================================================================
CON
CLK_FREQ = 270_000_000 ' system freq as a constant (MAKE SURE THIS IS SAME AS IN TOP FILE!!!)
#0, M_NOT_SET, M_ANGLE, M_USECS, M_PRCNT ' write/read modes
#0, ST_NOT_SET, ST_STANDARD, ST_360_DEGREE ' Servo Types (limit behaviors)
CALCULATE_CENTER = -1
SERVO_POSITION_NOT_SET = -1
DEFAULT_LIMIT_USEC_MIN = 800 ' was 600 uSec
DEFAULT_LIMIT_USEC_CTR = 1500
DEFAULT_LIMIT_USEC_MAX = 2200 ' was 2400 uSec
DEFAULT_SLEW_STEPS = 75
DEFAULT_SLEW_RATE_IN_USEC = (DEFAULT_LIMIT_USEC_MAX - DEFAULT_LIMIT_USEC_MIN) / DEFAULT_SLEW_STEPS
MAX_SERVO_NAME_CHARS = 10
MAX_SLEW_TABLE_TABLE_ENTRIES = 8 ' was 5 now 8 for easy debug
' Delays for MG996R at 5v
DELAY_USEC_HALF_RATE = 707
DELAY_USEC_QUARTER_RATE = 1414
DELAY_USEC_EIGHTH_RATE = 2829
DELAY_USEC_SIXTEENTH_RATE = 5657
TAIL_SML_PERCENT = 3 ' was 6
TAIL_LRG_PERCENT = 9 ' was 5
STEP_INCRE_MIDDLE = 18 ' was 20, 16
STEP_INCRE_LRG_TAIL = 10 ' was 12
STEP_INCRE_SML_TAIL = 6 ' same 6
STEP_TABLE_LIMIT = (2 * STEP_INCRE_SML_TAIL) + (2 * STEP_INCRE_LRG_TAIL) + STEP_INCRE_MIDDLE
VAR
LONG channel ' servo controller channel [0-15]
LONG servoType ' [ST_NOT_SET, ST_STANDARD, ST_360_DEGREE]
LONG uSecMinimum ' default 600/800
LONG uSecCenter ' default 1500
LONG uSecMaximum ' default 2200/2400
LONG uSecSlewRate ' default {DEFAULT_SLEW_RATE_IN_USEC} 75 steps in full range
LONG rngMinimum ' default NOT_SET
LONG rngMaximum ' default NOT_SET
' last value written to servo
LONG currPosnUSec ' [600..2400]
LONG currPosnDegr ' [0..180]
' destination value for servo (when stepping to destination)
LONG targetUSec ' valid only during slew
LONG targetDegr ' valid only during slew
LONG bLastAtTargetStatus
BYTE bChannelSpecified ' true when servo-channel is set up
BYTE bStopped
BYTE bShowDebug
BYTE bDoneMsgShown
BYTE bHaveSavedDebug
BYTE bPriorShowDebug
BYTE bHaveLimits ' true when limits are specified
BYTE nameStr[MAX_SERVO_NAME_CHARS + 1]
' slew table ea. entry: rate, delay
' rate: increment in uSec
' delay: step expiration in tics
'
' table calcs:
' bell curve:
' 40-1400 % 6(1/8), 9(1/4), 70(1/2), 9(1/4), 6(1/8) ct=5
' 1-39 % 10(1/8), 80(1/4), 10(1/8) ct=3
LONG ms001 ' mSec tics at curr clock freq
LONG us001 ' uSec tics at curr clock freq
LONG stNextExpire ' when we need to send servo commands (tics since last + start of last)
LONG stDummy ' fill
WORD stDelay[MAX_SLEW_TABLE_TABLE_ENTRIES] ' delay value in tics for this entry
BYTE stUSec[MAX_SLEW_TABLE_TABLE_ENTRIES] ' travel rate in uSec for this entry
BYTE stCount[MAX_SLEW_TABLE_TABLE_ENTRIES] ' number of times to step at this rate
BYTE stEntryCt ' value of 3 or 5
BYTE stCurrIdx ' index of curr entry
BYTE stCurrCt ' number of steps to switch
OBJ
pca9685 : "isp_i2c_pca9685" ' our 16-chan servo controller
term : "isp_serial_singleton" ' debug terminal output
nstr : "jm_nstrings" ' number-to-string
PUB null()
'' This is not a top-level object
PUB init(chan, mode, value, pNameStr) | bValidMode, nameLen
'' Configure servo output channel
'' -- {chan} is pca9685 channel number [0-15] associated with this servo
'' -- {mode} is M_ANGLE, M_USECS or 0 (M_NOT_SET)
'' -- {value} is desired position angle[0-180], uSec[600-2400]
' EX:
' servo.init(14, M_NOT_SET, 0) ' just assign channel
' servo.init(14, M_ANGLE, 90) ' assign channel and move servo to 90 degr
' fill in our name for debug use
bShowDebug := FALSE
bHaveSavedDebug := FALSE
targetUSec := SERVO_POSITION_NOT_SET
targetDegr := SERVO_POSITION_NOT_SET
bLastAtTargetStatus := -2 ' value can't happen
rngMinimum := SERVO_POSITION_NOT_SET
rngMaximum := SERVO_POSITION_NOT_SET
ms001 := CLK_FREQ / 1_000 ' ticks in 1ms
us001 := CLK_FREQ / 1_000_000 ' ticks in 1us
stDummy := -1 ' dump marker
bytefill(@nameStr, 0, MAX_SERVO_NAME_CHARS + 1)
byte [@nameStr][0] := chan + $30 ' add ASCII bias
byte [@nameStr][1] := $2D ' hyphen
nameLen := strsize(pNameStr)
if(nameLen > MAX_SERVO_NAME_CHARS - 2)
nameLen:= MAX_SERVO_NAME_CHARS - 2
bytemove(@byte [@nameStr][2], pNameStr, nameLen)
term.fstr3(string("+ init([%s]: CHAN %d, %s)\r\n"), @nameStr, chan, interpModeValue(mode, value))
setServoDefaults()
uSecSlewRate := DEFAULT_SLEW_RATE_IN_USEC ' deafult to 24 uSec slew, 75 increments
channel := 0 #> chan <# 15 ' save controller channel for this servo
bChannelSpecified := TRUE ' mark servo channel as specified
currPosnUSec := SERVO_POSITION_NOT_SET ' preset nonsense values so we move first time
if mode <> M_NOT_SET
bValidMode := isValidMode(mode)
if bValidMode
writePosition(mode, value)
PUB stop()
'' Disable servo channel if previously configured
if (bChannelSpecified)
bChannelSpecified := FALSE
PUB enableDebug(bEnable)
'' Turn on/off file internal debug messaging (bEnable = T/F where T means show debug messages from this object)
bShowDebug := bEnable
PUB saveDebug()
'' Preserve last debug state (push state)
if not bHaveSavedDebug
bPriorShowDebug := bShowDebug
bHaveSavedDebug := TRUE
else
term.fstr0(string("!!! saveDebug() ERROR - Already SAVED!\r\n"))
PUB restoreDebug()
'' Restore prior debug state (pop state)
if bHaveSavedDebug
bShowDebug := bPriorShowDebug
bHaveSavedDebug := FALSE
else
term.fstr0(string("!!! restoreDebug() ERROR - Nothing SAVED to restore!\r\n"))
PUB configureMinCtrMaxType(uSecMin, uSecCntr, uSecMax, type)
'' Configure limits and center for this servo instance
servoType := type
uSecMinimum := uSecMin
uSecMaximum := uSecMax
uSecCenter := uSecCntr
if(uSecCntr == CALCULATE_CENTER)
uSecCenter := ((uSecMaximum - uSecMinimum) / 2) + uSecMinimum
uSecSlewRate := (uSecMaximum - uSecMinimum) / DEFAULT_SLEW_STEPS
bHaveLimits := TRUE
if bShowDebug
term.fstr4(string("+ configureMinCtrMaxType(MIN %d, CTR %d, MAX %d, TYPE %d)\r\n"), uSecMin, uSecCenter, uSecMax, type)
PUB configureRangePercent(rngMin, rngMax)
'' Configure limits in terms of percent: [-100 to 0, 0 to 100, -100 to 100, etc.]
if rngMin < rngMax
rngMinimum := rngMin
rngMaximum := rngMax
else
rngMinimum := SERVO_POSITION_NOT_SET
rngMaximum := SERVO_POSITION_NOT_SET
PUB rangePercent() : rangeMin, rangeMax
'' Return configured limits in terms of percent: [-100 to 0, 0 to 100, -100 to 100, etc.]
rangeMin := rngMinimum
rangeMax := rngMaximum
PUB centerMicroSec() : centerInMicroSecs
'' Return the center in uSec for this servo instance
centerInMicroSecs := uSecCenter
PUB setSlewRate(newRatInUSec)
'' Set new slew rate for this servo instance (default 30 uSec)
uSecSlewRate := 5 #> newRatInUSec <# 450 ' min is 5 uSec, max is 1/4 range
if newRatInUSec == 0
uSecSlewRate := DEFAULT_LIMIT_USEC_MAX - DEFAULT_LIMIT_USEC_MIN ' eff no slew!
PUB setSlewSteps(newSlewStepCount) | valSlewSteps, slewRateInUSec
'' Set new slew rate for this servo instance in terms of # steps over limit-range
valSlewSteps := 1 #> newSlewStepCount <# 100 ' 1 - 100 steps limit
if newSlewStepCount == 0
valSlewSteps := DEFAULT_SLEW_STEPS ' default slew!
slewRateInUSec := (uSecMaximum - uSecMinimum) / valSlewSteps
setSlewRate(slewRateInUSec)
PUB slewToPosition(mode, value) | bHaveHardware, bIsValidMode, tmpTargetUSec, tmpTargetDegr, bValueChanged
'' Start slew of servo to desired target position
bHaveHardware := hardwareConfigured(string("slewToPosition"))
bIsValidMode := isValidMode(mode)
if (bHaveHardware && bIsValidMode)
' now that slew can be called while slewing only save if NOT saved
tmpTargetUSec, tmpTargetDegr := positionInLimits(mode, value)
bValueChanged := targetUSec <> tmpTargetUSec ? TRUE : FALSE
if bValueChanged
targetUSec := tmpTargetUSec
targetDegr := tmpTargetDegr
' XYZZY Recalculate ramps?!
if bShowDebug
term.fstr3(string("+ slewToPosn(%s) [%s] Cg%d)\r\n"), interpModeValue(mode, value), @nameStr, cogid())
reloadSlewRampTable(targetUSec, currPosnUSec)
'else
' if bShowDebug
' term.fstr3(string("+ -at-Postion(%s) [%s] Cg%d)\r\n"), interpModeValue(mode, value), @nameStr, cogid())
if NOT bHaveSavedDebug
saveDebug()
bShowDebug := FALSE
PUB continueSlew() : bAtTargetStatus | bHaveHardware, bIsValidTarget, deltaUSec, intermediateTargetUSec, bSlewComplete, currTicks
'' Continue slew to target position ... to final target or just next increment (table chase version)
bHaveHardware := hardwareConfigured(string("continueSlew"))
if bHaveHardware
currTicks := getct()
if stCurrCt > 0 && currTicks >= stNextExpire ' if exired, move
' curr table index points to our values
' calc our next intermediate target
intermediateTargetUSec := currPosnUSec + (BYTE [@stUSec][stCurrIdx] signx 7)
' calc and set our next expiration time in Ticks
stNextExpire := currTicks + (WORD [@stDelay][stCurrIdx] * us001)
stCurrCt--
if stCurrCt == 0
if stCurrIdx < stEntryCt - 1
stCurrIdx++
stCurrCt := BYTE [@stCount][stCurrIdx]
{
term.fstr2(string("+ -CS- intermediateTargetUSec[%s]: %d\r\n"), @nameStr, intermediateTargetUSec)
term.fstr1(string("+ - currTicks: %d\r\n"), currTicks)
term.fstr1(string("+ - stCurrCt: %d\r\n"), stCurrCt)
term.fstr1(string("+ - stCurrIdx: %d\r\n"), stCurrIdx)
term.fstr1(string("+ - stNextExpire: %d\r\n\r\n"), stNextExpire)
'}
writePosition(M_USECS, intermediateTargetUSec)
else
if stCurrCt == 0 && bDoneMsgShown == FALSE
bDoneMsgShown := TRUE
'term.fstr1(string("+ table chase [%s] done\r\n"), @nameStr)
if (targetUSec - currPosnUSec) <> 0
term.fstr4(string("+ table chase [%s] done desired:(%d), actual:(%d) DELTA=%d\r\n"), @nameStr, targetUSec, currPosnUSec, targetUSec - currPosnUSec)
PUB continueSlewOld() : bAtTargetStatus | bHaveHardware, bIsValidTarget, deltaUSec, intermediateTargetUSec, bSlewComplete
'' Continue slew to target position ... to final target or just next increment
bHaveHardware := hardwareConfigured(string("continueSlew"))
if bHaveHardware
deltaUSec := targetUSec - currPosnUSec
'if bShowDebug
' term.fstr3(string("+ continueSlew() [%s], target %d, delta %d)\r\n"), @nameStr, targetUSec, deltaUSec)
' if not at final target then move
bSlewComplete := FALSE
if deltaUSec <> 0
' if we have more then slew interval to move then just do slew distance
if (abs deltaUSec > uSecSlewRate)
if targetUSec < currPosnUSec
intermediateTargetUSec := currPosnUSec - uSecSlewRate
else
intermediateTargetUSec := currPosnUSec + uSecSlewRate
writePosition(M_USECS, intermediateTargetUSec)
else
' have less than slew distance do rest of travel
writePosition(M_USECS, targetUSec)
bSlewComplete := TRUE
else
bSlewComplete := TRUE
if bSlewComplete
restoreDebug()
term.fstr2(string("+ continueSlew() [%s] Cg%d DONE\r\n"), @nameStr, cogid())
PUB isAtPostion() : bAtTargetStatus | bHaveHardware, bIsActive, bValueChanged
'' Return T/F where T means this servo is at desired target position
bHaveHardware := hardwareConfigured(string("isAtPostion"))
bIsActive := isActive()
bAtTargetStatus := TRUE ' if servo not yet positioned
if (bHaveHardware && bIsActive)
bAtTargetStatus := (currPosnUSec == targetUSec) ? TRUE : FALSE
bValueChanged := bLastAtTargetStatus <> bAtTargetStatus
if bValueChanged
bLastAtTargetStatus := bAtTargetStatus
'if bShowDebug && bAtTargetStatus == FALSE && targetUSec <> SERVO_POSITION_NOT_SET
'if bShowDebug && targetUSec <> SERVO_POSITION_NOT_SET && bValueChanged
' term.fstr4(string("+ isAtPostion() [%s] Cg%d, target %d == %d --SLEW--\r\n"), @nameStr, cogid(), targetUSec, bAtTargetStatus)
PUB delayExpired() : bDelayDidExpire
'' Return T/F where T means it's time for another command (delay has expired)
bDelayDidExpire := getct() > stNextExpire ? TRUE : FALSE
'bDelayDidExpire := TRUE ' fake this for now...
PUB isActive() : bActiveStatus
'' Return T/F where T means that servo is in USE (does know its last position)
bActiveStatus := (currPosnUSec <> SERVO_POSITION_NOT_SET)
PUB name() : pNameStr
'' return pointer to name of this servo
pNameStr := @nameStr
PUB writePosition(mode, value) | bHaveHardware, bIsValidMode, currValue, bIsActive, pInterp
'' Update servo
'' -- {mode} is M_ANGLE, M_USECS or 0 (M_NOT_SET)
'' -- {value} is desired position angle[0-180], uSec[600-2400]
bHaveHardware := hardwareConfigured(string("writePosition"))
bIsValidMode := isValidMode(mode)
if (bHaveHardware && bIsValidMode)
currValue := readPosition(mode) ' returns SERVO_POSITION_NOT_SET if servo not yet positioned first time
pInterp := interpModeValue(mode, value)
if currValue <> value ' (currValue of SERVO_POSITION_NOT_SET - won't match either!)
if bShowDebug
term.fstr3(string("+ writePosn(%s) [%s] Cg%d\r\n"), pInterp, @nameStr, cogid())
currPosnUSec, currPosnDegr := positionInLimits(mode, value)
if targetUSec == SERVO_POSITION_NOT_SET
targetUSec := currPosnUSec
targetDegr := currPosnDegr
pca9685.enableDebug(bShowDebug)
debug("+ writePosn(", zstr_(pInterp), ") [", zstr_(@nameStr), "] Cg", udec_(cogid()))
pca9685.gotoMicroSec(channel, currPosnUSec) ' update servo
PUB readPosition(mode) : result | bHaveHardware, bIsValidMode
'' Return the current servo Position in {mode} units
result := SERVO_POSITION_NOT_SET
bHaveHardware := hardwareConfigured(string("readPosition"))
bIsValidMode := isValidMode(mode)
if (bHaveHardware && bIsValidMode)
if (mode == M_ANGLE)
result := currPosnDegr
elseif (mode == M_PRCNT)
result := us2Range(currPosnUSec)
else
result := currPosnUSec
if bShowDebug
if result == SERVO_POSITION_NOT_SET
term.fstr2(string("+ readPosn([%s] MODE %d) = SERVO_POSITION_NOT_SET\r\n"), @nameStr, mode)
'else
' term.fstr2(string("+ readPosn([%s]) [%s]\r\n"), @nameStr, interpModeValue(mode, result))
PUB getPosition() : retUSec, retDegr
'' Return the current servo Position in {USec} and {Degr} units
retUSec := currPosnUSec
retDegr := currPosnDegr
PUB showPosition()
'' Display the current servo Position in {USec} and {Degr} units
term.fstr3(string("--> [%s] %d uSec (%d degr)\r\n"), @nameStr, currPosnUSec, currPosnDegr)
PUB mapValueToServoPosnInUSec(inValue, inMin, inMax) : valueInUSec
'' map given value of range(min, max) to servo range
valueInUSec := map(inValue, inMin, inMax, uSecMinimum, uSecMaximum)
CON { ---- PRIVATE Utility Methods ---- }
DAT { mode formatting strings }
usMsg BYTE "uSec",0
degrMsg BYTE "degr",0
notSetMsg BYTE "{mode notSet}",0
VAR { mode formatting vars }
BYTE modeStr[30+1]
PRI interpModeValue(mode, value) : pInterpStr | bValidMode, byteIndex, pDigitStr, valUSec, valDegr
pInterpStr := @modeStr
byte [@modeStr][0] := 0 ' space
if mode == M_NOT_SET
byteIndex := 0
byteIndex += strcpy(@byte [@modeStr][byteIndex], @notSetMsg)
byte [@modeStr][byteIndex++] := $0 ' space
else
bValidMode := isValidMode(mode)
if bValidMode
valUSec, valDegr := positionInLimits(mode, value)
byteIndex := 0
pDigitStr := nstr.itoa(valUSec, 10, 0)
byteIndex += strcpy(@byte [@modeStr][byteIndex], pDigitStr)
byte [@modeStr][byteIndex++] := $20 ' space
byteIndex += strcpy(@byte [@modeStr][byteIndex], @usMsg)
byte [@modeStr][byteIndex++] := $20 ' space
byte [@modeStr][byteIndex++] := $28 ' open paren
pDigitStr := nstr.itoa(valDegr, 10, 0)
byteIndex += strcpy(@byte [@modeStr][byteIndex], pDigitStr)
byte [@modeStr][byteIndex++] := $20 ' space
byteIndex += strcpy(@byte [@modeStr][byteIndex], @degrMsg)
byte [@modeStr][byteIndex++] := $29 ' close paren
byte [@modeStr][byteIndex++] := 0 ' string terminator
else
term.fstr2(string("+ interpModeValue(Mode %d, Value %d) BAD MODE!\r\n"), mode, value)
PRI strcpy(pDest, pSrc) : lenCopied
lenCopied := strsize(pSrc)
bytemove(pDest, pSrc, lenCopied)
PRI reloadSlewRampTable(nTargetUSec, currUSec) | deltaUSec, bIsIncreasing, absDeltaUSec, eighthUSec, qtrUSec, halfUSec, bigStepCt, smallStepCt, finalStepSize, tableIdx, pTable, tableLen
deltaUSec := nTargetUSec - currUSec
bIsIncreasing := deltaUSec >= 0 ? TRUE : FALSE
absDeltaUSec := abs deltaUSec
bDoneMsgShown := FALSE
if absDeltaUSec > STEP_TABLE_LIMIT
' populate 5 entry table
' 50-1400 % 6(1/8), 9(1/4), 70(1/2), 9(1/4), 6(1/8) ct=5 <OLD>
' 46-1400 % 3(1/8), 5(1/4), 84(1/2), 5(1/4), 3(1/8) ct=5
eighthUSec := absDeltaUSec * TAIL_SML_PERCENT / 100 ' 6 %
qtrUSec := absDeltaUSec * TAIL_LRG_PERCENT / 100 ' 9 %
halfUSec := absDeltaUSec - (eighthUSec * 2 + qtrUSec * 2) ' remainder after - 30% (2 x 15%)
stEntryCt := 5
' load distance in USec
BYTE [@stUSec][0] := BYTE [@stUSec][4] := bIsIncreasing ? STEP_INCRE_SML_TAIL : 0 - STEP_INCRE_SML_TAIL
BYTE [@stUSec][1] := BYTE [@stUSec][3] := bIsIncreasing ? STEP_INCRE_LRG_TAIL : 0 - STEP_INCRE_LRG_TAIL
BYTE [@stUSec][2] := bIsIncreasing ? STEP_INCRE_MIDDLE : 0 - STEP_INCRE_MIDDLE
' load our step count
BYTE [@stCount][0] := BYTE [@stCount][4] := eighthUSec / STEP_INCRE_SML_TAIL
BYTE [@stCount][1] := BYTE [@stCount][3] := qtrUSec / STEP_INCRE_LRG_TAIL
BYTE [@stCount][2] := halfUSec / STEP_INCRE_MIDDLE
' load delay time in tics
WORD [@stDelay][0] := WORD [@stDelay][4] := DELAY_USEC_EIGHTH_RATE
WORD [@stDelay][1] := WORD [@stDelay][3] := DELAY_USEC_QUARTER_RATE
WORD [@stDelay][2] := DELAY_USEC_HALF_RATE
finalStepSize := absDeltaUSec
finalStepSize -= ((eighthUSec / STEP_INCRE_SML_TAIL) * STEP_INCRE_SML_TAIL) * 2
finalStepSize -= ((qtrUSec / STEP_INCRE_LRG_TAIL ) * STEP_INCRE_LRG_TAIL) * 2
finalStepSize -= (halfUSec / STEP_INCRE_MIDDLE) * STEP_INCRE_MIDDLE
if finalStepSize > 0
stEntryCt++
' load distance in USec
BYTE [@stUSec][5] := bIsIncreasing ? finalStepSize : 0 - finalStepSize
' load our step count
BYTE [@stCount][5] := 1
' load delay time in tics
WORD [@stDelay][5] := DELAY_USEC_EIGHTH_RATE
elseif absDeltaUSec > STEP_INCRE_SML_TAIL
' populate double/single entry table - slow move w/tail (or just tail)
qtrUSec := absDeltaUSec * 10 / 100 ' tail minimum (10%)
halfUSec := (absDeltaUSec - qtrUSec) / STEP_INCRE_SML_TAIL
' add rest of remainder to tail
qtrUSec := absDeltaUSec - (halfUSec * STEP_INCRE_SML_TAIL)
' cal step counts to know how populate table
bigStepCt := halfUSec / STEP_INCRE_LRG_TAIL
smallStepCt := qtrUSec / STEP_INCRE_SML_TAIL
finalStepSize := absDeltaUSec - ((bigStepCt * STEP_INCRE_LRG_TAIL) + (smallStepCt * STEP_INCRE_SML_TAIL))
'if small step size is 1 add it into the final step size
if smallStepCt == 1
finalStepSize := finalStepSize + STEP_INCRE_SML_TAIL
tableIdx := 0
if bigStepCt > 0
' have 2 or 3 entry table
' load distance in USec
BYTE [@stUSec][tableIdx] := bIsIncreasing ? STEP_INCRE_LRG_TAIL : 0 - STEP_INCRE_LRG_TAIL
' load our step count
BYTE [@stCount][tableIdx] := bigStepCt
' load delay time in tics
WORD [@stDelay][tableIdx] := DELAY_USEC_QUARTER_RATE
tableIdx++
if smallStepCt > 1
' have 3 entry table
' load distance in USec
BYTE [@stUSec][tableIdx] := bIsIncreasing ? STEP_INCRE_SML_TAIL : 0 - STEP_INCRE_SML_TAIL
' load our step count
BYTE [@stCount][tableIdx] := smallStepCt
' load delay time in tics
WORD [@stDelay][tableIdx] := DELAY_USEC_EIGHTH_RATE
tableIdx++
' place final entry of 2 or 3 entry table
' load distance in USec
BYTE [@stUSec][tableIdx] := bIsIncreasing ? finalStepSize : 0 - finalStepSize
' load our step count
BYTE [@stCount][tableIdx] := 1
' load delay time in tics
WORD [@stDelay][tableIdx] := DELAY_USEC_EIGHTH_RATE
tableIdx++
else
' have 1 or 2 entry table
if smallStepCt > 1
' have 2 entry table
BYTE [@stUSec][tableIdx] := bIsIncreasing ? STEP_INCRE_SML_TAIL : 0 - STEP_INCRE_SML_TAIL
' load our step count
BYTE [@stCount][tableIdx] := smallStepCt
' load delay time in tics
WORD [@stDelay][tableIdx] := DELAY_USEC_EIGHTH_RATE
tableIdx++
' place final entry of 1 or 2 entry table
' load distance in USec
BYTE [@stUSec][tableIdx] := bIsIncreasing ? finalStepSize : 0 - finalStepSize
' load our step count
BYTE [@stCount][tableIdx] := 1
' load delay time in tics
WORD [@stDelay][tableIdx] := DELAY_USEC_EIGHTH_RATE
tableIdx++
stEntryCt := tableIdx
else
' single entry table
' -- travel remainder of distance in 1 go at half/speed
stEntryCt := 1
' load distance in USec
BYTE [@stUSec][0] := bIsIncreasing ? absDeltaUSec : 0 - absDeltaUSec
' load our step count
BYTE [@stCount][0] := 1
' load delay time in tics
WORD [@stDelay][0] := DELAY_USEC_HALF_RATE
stCurrIdx := 0
stCurrCt := BYTE [@stCount][stCurrIdx] ' set initial number of steps (must be > 0)
stNextExpire := getct() ' set already expired
'term.memDump(@ms001, @stCurrCt - @ms001 + 1, string("ServoSlewTable"))
dumpTable(targetUSec, currUSec, deltaUSec)
term.fstr0(string("\r\n"))
PRI dumpTable(nTargetUSec, currUSec, deltaUSec) | tableIndex
' dump our table formatted
term.fstr5(string("- TABLE [%s] %d entry/ies, from(%d) to(%d) delta(%d)\r\n"), @nameStr, stEntryCt, currUSec, nTargetUSec, deltaUSec)
repeat tableIndex from 0 to stEntryCt - 1
term.fstr4(string("- E%d: uS(%d), ct(%d), delay(%d)\r\n"), tableIndex+1, BYTE [@stUSec][tableIndex] signx 7, BYTE [@stCount][tableIndex], WORD [@stDelay][tableIndex])
PRI isValidMode(mode) : bValidStatus
' Return T/F where T means {mode} is valid
bValidStatus := FALSE
if (mode == M_ANGLE)
bValidStatus := TRUE
elseif (mode == M_USECS)
bValidStatus := TRUE
elseif (mode == M_PRCNT)
bValidStatus := TRUE
if NOT bValidStatus
term.fstr1(string("+ isValidMode() ERROR mode(%d) NOT valid\r\n"), mode)
PRI hardwareConfigured(callerIDMsg) : bIsConfigured
bIsConfigured := bChannelSpecified
if NOT bChannelSpecified
term.fstr2(string("+ %s() ERROR Channel[%s] NOT configured\r\n"), callerIDMsg, @nameStr)
PRI convertPosition(inMode, inValue, outMode) : outValue | bIsValidMode, tmpDegr, tmpUSec
bIsValidMode := isValidMode(inMode)
bIsValidMode &= isValidMode(outMode)
if (bIsValidMode)
tmpUSec, tmpDegr := positionInLimits(inMode, inValue)
if (outMode == M_ANGLE)
outValue := tmpDegr
elseif (outMode == M_USECS)
outValue := tmpUSec
elseif (outMode == M_PRCNT)
outValue := us2Range(tmpUSec)
else
if bShowDebug
term.fstr3(string("+ convertPosn(INMODE %d, VAL %d, OUTMODE %d) ERROR Bad Param!\r\n"), inMode, inValue, outMode)
PRI positionInLimits(mode, value) : retUSec, retDegr | tmpRange
if (mode == M_ANGLE)
retDegr := 0 #> value <# 180 ' legal degrees
retUSec := angle2us(retDegr) ' convert to uSecs
if retDegr <> value
term.fstr4(string("+ positionInLimits(ANGLE[%d], VAL %d) --> uSec %d, angle %d\r\n"), mode, value, retUSec, retDegr)
elseif (mode == M_USECS)
retUSec := uSecMinimum #> value <# uSecMaximum ' legal microseconds
retDegr := us2Angle(retUSec) ' convert to posnDegr
if retUSec <> value
term.fstr4(string("+ positionInLimits(uSec[%d], VAL %d) --> uSec %d, angle %d\r\n"), mode, value, retUSec, retDegr)
elseif (mode == M_PRCNT)
tmpRange := rngMinimum #> value <# rngMaximum ' legal range
retUSec := rangeToUSec(tmpRange) ' convert to uSecs
retDegr := us2Angle(retUSec) ' convert to posnDegr
else
term.fstr2(string("+ positionInLimits(MODE %d, VAL %d) ERROR Bad MODE!\r\n"), mode, value)
PRI setServoDefaults()
' configure default values for this servo if we don't yet have these
if not bHaveLimits
uSecMinimum := DEFAULT_LIMIT_USEC_MIN
uSecMaximum := DEFAULT_LIMIT_USEC_MAX
uSecCenter := DEFAULT_LIMIT_USEC_CTR
servoType := ST_STANDARD
bHaveLimits := TRUE
PRI angle2us(degr) : posnUSec | validDegr
' convert degrees to uSecs
validDegr := 0 #> degr <# 180 ' legal degrees
' map our number of degrees to uSec time
posnUSec := map(validDegr, 0, 180, uSecMinimum, uSecMaximum)
'term.fstr4(string("+ angle2us(%d degr) --> %d uSec [uSec min:%d, max:%d]\r\n"), validDegr, posnUSec, uSecMinimum, uSecMaximum)
PRI us2Angle(uSecs) : posnDegr | validUs
' convert uSecs to degrees
validUs := uSecMinimum #> uSecs <# uSecMaximum ' legal microseconds
' map our uSec time to number of degrees
posnDegr := map(validUs, uSecMinimum, uSecMaximum, 0, 180)
'term.fstr4(string("+ us2Angle(uSec %d) --> %d degr [uSec min:%d, max:%d]\r\n"), validUs, posnDegr, uSecMinimum, uSecMaximum)
PRI us2Range(uSecs) : posnRange | validUs
' convert uSecs to degrees
validUs := uSecMinimum #> uSecs <# uSecMaximum ' legal microseconds
' map our uSec time to range
posnRange := map(validUs, uSecMinimum, uSecMaximum, rngMinimum, rngMaximum)
'term.fstr4(string("+ us2Angle(uSec %d) --> %d degr [uSec min:%d, max:%d]\r\n"), validUs, posnDegr, uSecMinimum, uSecMaximum)
PRI rangeToUSec(inValue) : valueInUSec
valueInUSec := SERVO_POSITION_NOT_SET
if rngMinimum <> SERVO_POSITION_NOT_SET and rngMaximum <> SERVO_POSITION_NOT_SET
valueInUSec := map(inValue, rngMinimum, rngMaximum, uSecMinimum, uSecMaximum)
PRI map(inValue, inMin, inMax, outMin, outMax) : outValue
{
REF: https://www.arduino.cc/reference/en/language/functions/math/map
Re-maps a number from one range to another. That is, a value of fromLow would get mapped to toLow,
a value of fromHigh to toHigh, values in-between to values in-between, etc.
Does not constrain values to within the range, because out-of-range values are sometimes intended and
useful. The constrain() function may be used either before or after this function, if limits to the ranges are desired.
Note that the "lower bounds" of either range may be larger or smaller than the "upper bounds" so the
map() function may be used to reverse a range of numbers, for example
y = map(x, 1, 50, 50, 1);
The function also handles negative numbers well, so that this example
y = map(x, 1, 50, 50, -100);
is also valid and works well.
The map() function uses integer math so will not generate fractions, when the math might indicate that
it should do so. Fractional remainders are truncated, and are not rounded or averaged.
}
outValue := (inValue - inMin) * (outMax - outMin) / (inMax - inMin) + outMin