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Servo32v7.spin
executable file
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Servo32v7.spin
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{{
*****************************************
* Servo32v7 Driver v7 *
* Author: Beau Schwabe *
* Copyright (c) 2009 Parallax *
* See end of file for terms of use. *
*****************************************
*****************************************************************
Control up to 32-Servos Version 7 08-18-2009
*****************************************************************
Coded by Beau Schwabe (Parallax).
*****************************************************************
History:
Version 1 - initial concept
Version 2 - (03-08-2006) Beta release
Version 3 - (11-04-2007) Improved servo resolution to 1uS
Version 4 - (05-03-2009) Ability to disable a servo channel
and remove channel preset requirement
Version 5 - (05-08-2009) Added ramping ability
Version 6 - (07-18-2009) Fixed slight timing skew in ZoneLoop and
fixed overhead timing latency in ZoneCore
Version 7 - (08-18-2009) Fixed servo jitter in ramping function when
servo reached it's target position.
Theory of Operation:
Each servo requires a pulse that varies from 1mS to 2mS with a period of 20mS.
To prevent a current surge nightmare, I have broken the 20mS period into four
groups or Zones of 8 servos each with a period of 5mS. What this does, is to
ensure that at any given moment in time, a maximum of only 8 servos are receiving
a pulse.
Zone1 Zone2 Zone3 Zone4 In Zone1, servo pins 0- 7 are active
In Zone2, servo pins 8-15 are active
│─5mS│─5mS│─5mS│─5mS│ In Zone3, servo pins 16-23 are active
│──────────20mS───────────│ In Zone4, servo pins 24-31 are active
1-2mS servo pulse
The preferred circuit of choice is to place a 4.7K resistor on each signal input
to the servo. If long leads are used, place a 1000uF cap at the servo power
connector. Servo's seem to be happy with a 5V supply receiving a 3.3V signal.
}}
CON
_1uS = 1_000_000 / 1 'Divisor for 1 uS
ZonePeriod = 5_000 '5mS (1/4th of typical servo period of 20mS)
NoGlitchWindow = 3_000 '3mS Glitch prevention window (set value larger than maximum servo width of 2.5mS)
'Use at least 500uS for overhead (actual overhead about 300uS)
LowRange = 500 '<- during Debug I changed this value to 1 to test 1us resolution
HighRange = 2500
VAR
long RampFlag
long ZoneClocks
long NoGlitch
long ServoPinDirection
long ServoData[32] '0-31 Current Servo Value
long ServoTarget[32] '0-31 Desired Servo Value
long ServoDelay[32] '0-31 Servo Ramp Delay
OBJ
SERVO : "Servo32_Ramp_v2.spin"
PUB Start
RampFlag := 0
ZoneClocks := (clkfreq / _1uS * ZonePeriod) 'calculate # of clocks per ZonePeriod
NoGlitch := $FFFF_FFFF-(clkfreq / _1uS * NoGlitchWindow) 'calculate # of clocks for GlitchFree servos. Problem occurs when 'cnt' value rollover is less than the servo's pulse width.
cognew(@ServoStart,@ZoneClocks)
PUB Ramp
SERVO.StartRamp(@ServoData)
RampFlag := 1
PUB SetRamp(Pin, Width,Delay)|S_Width
ServoDelay[Pin] := Delay 'Note: The resolution of Delay is about 38.75us
' or 3100 clocks
S_Width := LowRange #> Width <# HighRange 'limit Width value
Pin := 0 #> Pin <# 31 'limit Pin value between 0 and 31
ServoTarget[Pin] := ((clkfreq / _1uS * S_Width)/SERVO#CoreSpeed)*SERVO#CoreSpeed
'calculate # of clocks for a specific Pulse Width
'and adjust the snap value to match the value of
'CoreSpeed. (Note: this prevents jitter when Servo
' has reached it's target position)
if S_Width==Width
dira[Pin] := 1 'set selected servo pin as an OUTPUT
else
dira[Pin] := 0 'set selected servo pin as an INPUT only if Width out of range
ServoPinDirection := dira 'Read I/O state of ALL pins
PUB Set(Pin, Width)|S_Width 'Set Servo value
S_Width := LowRange #> Width <# HighRange 'limit Width value
Pin := 0 #> Pin <# 31 'limit Pin value between 0 and 31
if RampFlag == 0
ServoData[Pin] := (clkfreq / _1uS * S_Width) 'calculate # of clocks for a specific Pulse Width
else
ServoData[Pin] := ((clkfreq / _1uS * S_Width)/SERVO#CoreSpeed)*SERVO#CoreSpeed
ServoTarget[Pin] := ServoData[Pin]
if S_Width==Width
dira[Pin] := 1 'set selected servo pin as an OUTPUT
else
dira[Pin] := 0 'set selected servo pin as an INPUT only if Width out of range
ServoPinDirection := dira 'Read I/O state of ALL pins
DAT
'*********************
'* Assembly language *
'*********************
org
'------------------------------------------------------------------------------------------------------------------------------------------------
ServoStart mov Index, par 'Set Index Pointer
rdlong _ZoneClocks, Index 'Get ZoneClock value
add Index, #4 'Increment Index to next Pointer
rdlong _NoGlitch, Index 'Get NoGlitch value
add Index, #4 'Increment Index to next Pointer
mov PinDirectionAddress, Index 'Set pointer for I/O direction Address
add Index, #32 'Increment Index to END of Zone1 Pointer
mov Zone1Index, Index 'Set Index Pointer for Zone1
add Index, #32 'Increment Index to END of Zone2 Pointer
mov Zone2Index, Index 'Set Index Pointer for Zone2
add Index, #32 'Increment Index to END of Zone3 Pointer
mov Zone3Index, Index 'Set Index Pointer for Zone3
add Index, #32 'Increment Index to END of Zone4 Pointer
mov Zone4Index, Index 'Set Index Pointer for Zone4
IOupdate rdlong dira, PinDirectionAddress 'Get and set I/O pin directions
'------------------------------------------------------------------------------------------------------------------------------------------------
Zone1 mov ZoneIndex, Zone1Index 'Set Index Pointer for Zone1
call #ResetZone
call #ZoneCore
Zone2 mov ZoneIndex, Zone2Index 'Set Index Pointer for Zone2
call #IncrementZone
call #ZoneCore
Zone3 mov ZoneIndex, Zone3Index 'Set Index Pointer for Zone3
call #IncrementZone
call #ZoneCore
Zone4 mov ZoneIndex, Zone4Index 'Set Index Pointer for Zone4
call #IncrementZone
call #ZoneCore
jmp #IOupdate
'------------------------------------------------------------------------------------------------------------------------------------------------
ResetZone mov ZoneShift1, #1
mov ZoneShift2, #2
mov ZoneShift3, #4
mov ZoneShift4, #8
mov ZoneShift5, #16
mov ZoneShift6, #32
mov ZoneShift7, #64
mov ZoneShift8, #128
ResetZone_RET ret
'------------------------------------------------------------------------------------------------------------------------------------------------
IncrementZone shl ZoneShift1, #8
shl ZoneShift2, #8
shl ZoneShift3, #8
shl ZoneShift4, #8
shl ZoneShift5, #8
shl ZoneShift6, #8
shl ZoneShift7, #8
shl ZoneShift8, #8
IncrementZone_RET ret
'------------------------------------------------------------------------------------------------------------------------------------------------
ZoneCore mov ServoByte, #0 'Clear ServoByte
mov Index, ZoneIndex 'Set Index Pointer for proper Zone
ZoneSync mov SyncPoint, cnt 'Create a Sync Point with the system counter
' mov temp, _NoGlitch
' sub temp, SyncPoint wc
sub _NoGlitch, SyncPoint nr,wc 'Test to make sure 'cnt' value won't rollover within Servo's pulse width
if_C jmp #ZoneSync 'If C flag is set get a new Sync Point, otherwise we are ok.
' add SyncPoint, #220 '<- Debug - 2us becomes 1us
' add SyncPoint, #300 '<- Debug - 2us becomes 3us
add SyncPoint, #260 'Add overhead offset to counter Sync point
'midpoint from above Debug test.
mov LoopCounter, #8 'Set Loop Counter to 8 Servos for this Zone
movd LoadServos, #ServoWidth8 'Restore/Set self-modifying code on "LoadServos" line
movd ServoSync, #ServoWidth8 'Restore/Set self-modifying code on "ServoSync" line
LoadServos rdlong ServoWidth8, Index 'Get Servo Data
sub Index, #4 'Decrement Index pointer to next address
nop
ServoSync add ServoWidth8, SyncPoint 'Determine system counter location where pulse should end
sub LoadServos, d_field 'self-modify destination pointer for "LoadServos" line
sub ServoSync, d_field 'self-modify destination pointer for "ServoSync" line
djnz LoopCounter, #LoadServos 'Do ALL 8 servo positions for this Zone
mov temp, _ZoneClocks 'Move _ZoneClocks into temp
add temp, SyncPoint 'Add SyncPoint to _ZoneClocks
'----------------------------------------------Start Tight Servo code-------------------------------------------------------------
ZoneLoop mov tempcnt, cnt '(4 - clocks) take a snapshot of current counter value
cmpsub ServoWidth1, tempcnt nr,wc '(4 - clocks) compare system counter to ServoWidth ; write result in C flag
muxc ServoByte, ZoneShift1 '(4 - clocks) Set ServoByte.Bit0 to "0" or "1" depending on the value of "C"
cmpsub ServoWidth2, tempcnt nr,wc '(4 - clocks) compare system counter to ServoWidth ; write result in C flag
muxc ServoByte, ZoneShift2 '(4 - clocks) Set ServoByte.Bit1 to "0" or "1" depending on the value of "C"
cmpsub ServoWidth3, tempcnt nr,wc '(4 - clocks) compare system counter to ServoWidth ; write result in C flag
muxc ServoByte, ZoneShift3 '(4 - clocks) Set ServoByte.Bit2 to "0" or "1" depending on the value of "C"
cmpsub ServoWidth4, tempcnt nr,wc '(4 - clocks) compare system counter to ServoWidth ; write result in C flag
muxc ServoByte, ZoneShift4 '(4 - clocks) Set ServoByte.Bit3 to "0" or "1" depending on the value of "C"
cmpsub ServoWidth5, tempcnt nr,wc '(4 - clocks) compare system counter to ServoWidth ; write result in C flag
muxc ServoByte, ZoneShift5 '(4 - clocks) Set ServoByte.Bit4 to "0" or "1" depending on the value of "C"
cmpsub ServoWidth6, tempcnt nr,wc '(4 - clocks) compare system counter to ServoWidth ; write result in C flag
muxc ServoByte, ZoneShift6 '(4 - clocks) Set ServoByte.Bit5 to "0" or "1" depending on the value of "C"
cmpsub ServoWidth7, tempcnt nr,wc '(4 - clocks) compare system counter to ServoWidth ; write result in C flag
muxc ServoByte, ZoneShift7 '(4 - clocks) Set ServoByte.Bit6 to "0" or "1" depending on the value of "C"
cmpsub ServoWidth8, tempcnt nr,wc '(4 - clocks) compare system counter to ServoWidth ; write result in C flag
muxc ServoByte, ZoneShift8 '(4 - clocks) Set ServoByte.Bit7 to "0" or "1" depending on the value of "C"
mov outa, ServoByte '(4 - clocks) Send ServoByte to Zone Port
cmp temp, tempcnt nr,wc '(4 - clocks) Determine if cnt has exceeded width of _ZoneClocks ; write result in C flag
if_NC jmp #ZoneLoop '(4 - clocks) if the "C Flag" is not set stay in the current Zone
'-----------------------------------------------End Tight Servo code--------------------------------------------------------------
' Total = 80 - clocks @ 80MHz that's 1uS resolution
ZoneCore_RET ret
'------------------------------------------------------------------------------------------------------------------------------------------------
d_field long $0000_0200
PinDirectionAddress long 0
counter long 0
Address1 long 0
Address2 long 0
Address3 long 0
temp1 long 0
temp2 long 0
tempcnt long 0
dly long 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
long 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ServoWidth1 res 1
ServoWidth2 res 1
ServoWidth3 res 1
ServoWidth4 res 1
ServoWidth5 res 1
ServoWidth6 res 1
ServoWidth7 res 1
ServoWidth8 res 1
ZoneShift1 res 1
ZoneShift2 res 1
ZoneShift3 res 1
ZoneShift4 res 1
ZoneShift5 res 1
ZoneShift6 res 1
ZoneShift7 res 1
ZoneShift8 res 1
temp res 1
Index res 1
ZoneIndex res 1
Zone1Index res 1
Zone2Index res 1
Zone3Index res 1
Zone4Index res 1
SyncPoint res 1
ServoByte res 1
LoopCounter res 1
_ZoneClocks res 1
_NoGlitch res 1
_ServoPinDirection res 1
DAT
{{
┌──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┐
│ TERMS OF USE: MIT License │
├──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┤
│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. │
└──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────┘
}}