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Merge pull request #4 from Samt43/main
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Fix Bug #5 : _minUs and _maxUs should not be stored globally in the impl.
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@khoih-prog
khoih-prog authored Apr 22, 2022
2 parents 456ef35 + 46f9800 commit 8e87689
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Showing 2 changed files with 18 additions and 18 deletions.
10 changes: 5 additions & 5 deletions src/RP2040_ISR_Servo.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -158,7 +158,7 @@ class RP2040_ISR_Servo
}

// Bind servo to the timer and pin, return servoIndex
int8_t setupServo(const uint8_t& pin, const uint16_t& min = MIN_PULSE_WIDTH, const uint16_t& max = MAX_PULSE_WIDTH, uint16_t value = 0);
int8_t setupServo(const uint8_t& pin, const uint16_t& minPulseUs = MIN_PULSE_WIDTH, const uint16_t& maxPulseUs = MAX_PULSE_WIDTH, uint16_t value = 0);

// if value is < MIN_PULSE_WIDTH its treated as an angle, otherwise as pulse width in microseconds
void write(const uint8_t& servoIndex, uint16_t& value);
Expand Down Expand Up @@ -234,9 +234,6 @@ class RP2040_ISR_Servo

// find the first available slot
int8_t findFirstFreeSlot();

uint16_t _minUs;
uint16_t _maxUs;

#if defined(ARDUINO_ARCH_MBED)

Expand All @@ -245,7 +242,8 @@ class RP2040_ISR_Servo
uint8_t pin; // pin servo connected to
int position; // In degrees
bool enabled; // true if enabled

uint16_t minPulseUs; // The minimum pulse width the servo can handle
uint16_t maxPulseUs; // The maximum pulse width the servo can handle
ServoImpl* servoImpl;
} servo_t;

Expand All @@ -259,6 +257,8 @@ class RP2040_ISR_Servo
int pgmOffset; // Where in the SM the code lives
int position; // In degrees
bool enabled; // true if enabled
uint16_t minPulseUs; // The minimum pulse width the servo can handle
uint16_t maxPulseUs; // The maximum pulse width the servo can handle
} servo_t;

#endif
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26 changes: 13 additions & 13 deletions src/RP2040_ISR_Servo_Impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ int8_t RP2040_ISR_Servo::findFirstFreeSlot()

/////////////////////////////////////////////////////

int8_t RP2040_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minUs, const uint16_t& maxUs, uint16_t value)
int8_t RP2040_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minPulseUs, const uint16_t& maxPulseUs, uint16_t value)
{
int8_t servoIndex;

Expand All @@ -97,8 +97,8 @@ int8_t RP2040_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minUs, c
return -1;

servo[servoIndex].pin = pin;
_maxUs = maxUs;
_minUs = minUs;
servo[servoIndex].maxPulseUs = maxPulseUs;
servo[servoIndex].minPulseUs = minPulseUs;
servo[servoIndex].position = 0;
servo[servoIndex].enabled = true;

Expand Down Expand Up @@ -139,7 +139,7 @@ int8_t RP2040_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minUs, c
#endif

ISR_SERVO_LOGDEBUG1("Index =", servoIndex);
ISR_SERVO_LOGDEBUG3("min =", _minUs, ", max =", _maxUs);
ISR_SERVO_LOGDEBUG3("min =", servo[servoIndex].minPulseUs, ", max =", servo[servoIndex].maxPulseUs);

return servoIndex;
}
Expand All @@ -153,7 +153,7 @@ void RP2040_ISR_Servo::write(const uint8_t& servoIndex, uint16_t& value)
{
// assumed to be 0-180 degrees servo
value = constrain(value, 0, 180);
value = map(value, 0, 180, _minUs, _maxUs);
value = map(value, 0, 180, servo[servoIndex].minPulseUs, servo[servoIndex].maxPulseUs);
}

writeMicroseconds(servoIndex, value);
Expand All @@ -163,7 +163,7 @@ void RP2040_ISR_Servo::write(const uint8_t& servoIndex, uint16_t& value)

void RP2040_ISR_Servo::writeMicroseconds(const uint8_t& servoIndex, uint16_t value)
{
value = constrain(value, _minUs, _maxUs);
value = constrain(value, servo[servoIndex].minPulseUs, servo[servoIndex].maxPulseUs);
servo[servoIndex].position = value;

if (servo[servoIndex].enabled)
Expand Down Expand Up @@ -203,7 +203,7 @@ bool RP2040_ISR_Servo::setPosition(const uint8_t& servoIndex, uint16_t position)
{
// assumed to be 0-180 degrees servo
position = constrain(position, 0, 180);
position = map(position, 0, 180, _minUs, _maxUs);
position = map(position, 0, 180, servo[servoIndex].minPulseUs, servo[servoIndex].maxPulseUs);
}

servo[servoIndex].position = position;
Expand Down Expand Up @@ -253,10 +253,10 @@ bool RP2040_ISR_Servo::setPulseWidth(const uint8_t& servoIndex, uint16_t& pulseW
// Updates interval of existing specified servo
if ( servo[servoIndex].enabled && (servo[servoIndex].pin <= RP2040_MAX_PIN) )
{
if (pulseWidth < _minUs)
pulseWidth = _minUs;
else if (pulseWidth > _maxUs)
pulseWidth = _maxUs;
if (pulseWidth < servo[servoIndex].minPulseUs)
pulseWidth = servo[servoIndex].minPulseUs;
else if (pulseWidth > servo[servoIndex].maxPulseUs)
pulseWidth = servo[servoIndex].maxPulseUs;

writeMicroseconds(servoIndex, pulseWidth);

Expand Down Expand Up @@ -353,7 +353,7 @@ bool RP2040_ISR_Servo::enable(const uint8_t& servoIndex)
return false;
}

if ( servo[servoIndex].position >= _minUs )
if ( servo[servoIndex].position >= servo[servoIndex].minPulseUs )
servo[servoIndex].enabled = true;

return true;
Expand All @@ -379,7 +379,7 @@ void RP2040_ISR_Servo::enableAll()
// Enable all servos with a enabled and count != 0 (has PWM) and good pin
for (int8_t servoIndex = 0; servoIndex < MAX_SERVOS; servoIndex++)
{
if ( (servo[servoIndex].position >= _minUs) && !servo[servoIndex].enabled
if ( (servo[servoIndex].position >= servo[servoIndex].minPulseUs) && !servo[servoIndex].enabled
&& (servo[servoIndex].pin <= RP2040_MAX_PIN) )
{
servo[servoIndex].enabled = true;
Expand Down

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