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added a static refresh_flag that is set to 1 at the start of the refr… #8

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added a static refresh_flag that is set to 1 at the start of the refr… #8

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8 changes: 6 additions & 2 deletions VarSpeedServo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,6 +92,8 @@ servoSequencePoint initSeq[] = {{0,100},{45,100}};

//sequence_t sequences[MAX_SEQUENCE];

volatile int8_t VarSpeedServo::refresh_flag;

// convenience macros
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
Expand All @@ -105,9 +107,10 @@ servoSequencePoint initSeq[] = {{0,100},{45,100}};

static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
{
if( Channel[timer] < 0 )
if( Channel[timer] < 0 ) {
*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
else{
VarSpeedServo::refresh_flag = 0;
}else{
if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
}
Expand Down Expand Up @@ -149,6 +152,7 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
else
*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
VarSpeedServo::refresh_flag = 1;
}
}

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3 changes: 2 additions & 1 deletion VarSpeedServo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -114,7 +114,7 @@ typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;

#define VarSpeedServo_VERSION 2 // software version of this library

#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
#define MIN_PULSE_WIDTH 444 // the shortest pulse sent to a servo
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds
Expand Down Expand Up @@ -147,6 +147,7 @@ typedef struct {
class VarSpeedServo
{
public:
static volatile int8_t refresh_flag;
VarSpeedServo();
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
Expand Down