1 files changed, 0 insertions, 234 deletions

diff --git a/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Servo.cpp b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Servo.cpp
deleted file mode 100644
index 2216219..0000000
--- a/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Servo.cpp
+++ /dev/null
@@ -1,234 +0,0 @@
-//#include "Energia.h"
-#include "Servo.h"
-
-#include "inc/hw_ints.h"
-#include "inc/hw_memmap.h"
-#include "inc/hw_types.h"
-#include "driverlib/debug.h"
-#include "driverlib/gpio.h"
-#include "driverlib/pin_map.h"
-#include "driverlib/rom.h"
-#include "driverlib/sysctl.h"
-#include "driverlib/timer.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-
-
-
-/** variables and functions common to all Servo instances **/
-
-volatile unsigned long ticksPerMicrosecond;  // Holds the calculated value
-unsigned int servoAssignedMask;
-static servo_t servos[SERVOS_PER_TIMER];
-unsigned int remainderPulseWidth;
-volatile int currentServo;
-bool servoInitialized = false;
-
-// Calculate the new period remainder
-static void calculatePeriodRemainder(void)
-{
-	unsigned long servoPeriodSum = 0;
-	for (int i = 0; i < SERVOS_PER_TIMER; i++){
-		servoPeriodSum += servos[i].pulse_width;
-	}
-	remainderPulseWidth = REFRESH_INTERVAL - servoPeriodSum;
-}
-
-static void initServo(void) {
-
-	/* Work around for clock not yet up in the constructor */
-#ifdef TARGET_IS_BLIZZARD_RB1
-	ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
-#endif
-
-	// Initialize global variables
-	ticksPerMicrosecond = 0;
-	servoAssignedMask = 0;
-	remainderPulseWidth = 0;
-	currentServo = 0;
-
-	for(int i = 0; i < SERVOS_PER_TIMER; i++)
-	{
-		servos[i].pin_number = 0;
-		servos[i].pulse_width = DEFAULT_SERVO_PULSE_WIDTH;
-		servos[i].enabled = false;
-	}
-
-	calculatePeriodRemainder();
-
-	// Enable TIMER
-	ROM_SysCtlPeripheralEnable(SERVO_TIMER_PERIPH);
-
-	// Enable processor interrupts.
-	ROM_IntMasterEnable();
-
-	TimerIntRegister(SERVO_TIMER, SERVO_TIMER_A, ServoIntHandler);
-	// Configure the TIMER
-	ROM_TimerConfigure(SERVO_TIMER, SERVO_TIME_CFG);
-
-	// Calculate the number of timer counts/microsecond
-	ticksPerMicrosecond = F_CPU / 1000000;
-
-	// Initially load the timer with 20ms interval time
-	ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, ticksPerMicrosecond * REFRESH_INTERVAL);
-
-	// Setup the interrupt for the TIMER1A timeout.
-	ROM_IntEnable(SERVO_TIMER_INTERRUPT);
-	ROM_TimerIntEnable(SERVO_TIMER, SERVO_TIMER_TRIGGER);
-
-	// Enable the timer.
-	ROM_TimerEnable(SERVO_TIMER, SERVO_TIMER_A);
-
-}
-
-/** end of static functions **/
-
-/*
- * When a new servo is created:
- * Initialize the servo module if it has not been initialized already.
- * Add the servo to the assigned servos mask with a new index.
- */
-Servo::Servo()
-{
-	// If the module has not been initialized
-	if(!servoInitialized)
-	{
-		// Initialize it.
-		initServo();
-		// It has been initialized, prevent further calls to initServo().
-		servoInitialized = true;
-	}
-
-	this->index = INVALID_SERVO;
-
-	// Look for a free servo index.
-	for (int i = 0; i < SERVOS_PER_TIMER; i++)
-	{
-		if (((servoAssignedMask >> i) & 1) == 0)
-		{
-			// Save the index for this instance of Servo.
-			this->index = i;
-
-			// Mark the spot in the mask.
-			servoAssignedMask |= (1 << i);
-
-			// Stop searching for free slots.
-			break;
-		}
-	}
-}
-
-//! Write a pulse width of the given number of microseconds to the Servo's pin
-void Servo::writeMicroseconds(int value)
-{
-	if(value < this->min) value = this->min;
-	if(value > this->max) value = this->max;
-
-	servos[this->index].pulse_width = value;
-
-	calculatePeriodRemainder();
-}
-
-//! Write a pulse width of the given degrees (if in the appropriate range to be degrees)
-//! or of the specified number of microseconds (if in the appropriate range to be microseconds)
-void Servo::write(int value)
-{
-	// treat values less than the min pulse width as angles in degrees (valid values in microseconds are handled as microseconds)
-	if(value < MIN_SERVO_PULSE_WIDTH)
-	{
-		if(value < 0) value = 0;
-		if(value > 180) value = 180;
-
-		value = map(value, 0, 180, this->min,  this->max);
-	}
-	this->writeMicroseconds(value);
-}
-
-//! Returns the current pulse width of the Servo's signal, in microseconds
-int Servo::readMicroseconds()
-{
-	return servos[this->index].pulse_width;
-}
-
-//! Returns the current position of the Servo, in degrees
-int Servo::read() // return the value as degrees
-{
-  return  map( this->readMicroseconds()+1, this->min, this->max, 0, 180);
-}
-
-//! Attach the Servo to the given pin (and, if specified, with the given range of legal pulse widths)
-unsigned int Servo::attach(unsigned int pin, int min, int max)
-{
-	this->min = min;
-	this->max = max;
-
-	servos[this->index].pin_number = pin;
-
-	pinMode(pin, OUTPUT);
-	digitalWrite(pin, LOW);
-
-	calculatePeriodRemainder();
-
-	servos[this->index].enabled = true;
-
-	return this->index;
-}
-
-//! Detach the Servo from its pin
-void Servo::detach()
-{
-    // Disable, clean up
-	servos[this->index].enabled = false;
-	servos[this->index].pulse_width = DEFAULT_SERVO_PULSE_WIDTH;
-	calculatePeriodRemainder();
-
-	digitalWrite(servos[this->index].pin_number, LOW);
-}
-
-bool Servo::attached(){
-	return servos[this->index].enabled;
-}
-
-//! ISR for generating the pulse widths
-void ServoIntHandler(void)
-{
-	// Clear the timer interrupt.
-	ROM_TimerIntClear(SERVO_TIMER, SERVO_TIMER_TRIGGER);
-
-	// Get the pulse width value for the current servo from the array
-	// and reload the timer with the new pulse width count value
-	// if we have already serviced all servos (currentServo = MAX_SERVO_NO)
-	// then this value should be the 20ms period value
-	if(currentServo < SERVOS_PER_TIMER)
-	{
-		ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, ticksPerMicrosecond * servos[currentServo].pulse_width);
-	}
-	else
-	{
-		ROM_TimerLoadSet(SERVO_TIMER, SERVO_TIMER_A, ticksPerMicrosecond * remainderPulseWidth);
-	}
-
-	// End the servo pulse set previously (if any)
-	if(currentServo > 0)  // If not the 1st Servo....
-	{
-		if (servos[currentServo - 1].enabled)
-		{
-			digitalWrite(servos[currentServo - 1].pin_number, LOW);
-		}
-	}
-
-	// Set the current servo pin HIGH
-	if(currentServo < SERVOS_PER_TIMER)
-	{
-		if (servos[currentServo - 1].enabled)
-		{
-			digitalWrite(servos[currentServo].pin_number, HIGH);
-		}
-		currentServo++;  // Advance to next servo for processing next time
-	}
-	else
-	{
-		currentServo = 0; // Start all over again
-	}
-}