Merge pull request #26 from ivanseidel/fix-servo-compatible

fixes #10
ivanseidel · Mar 25, 2014 · fd1e90a · fd1e90a
2 parents 01222db + 7f71489
commit fd1e90a
Show file tree

Hide file tree

Showing 3 changed files with 65 additions and 12 deletions.
diff --git a/DueTimer.cpp b/DueTimer.cpp
@@ -22,20 +22,39 @@ const DueTimer::Timer DueTimer::Timers[9] = {
 	{TC2,2,TC8_IRQn},
 };
 
-void (*DueTimer::callbacks[9])() = {};
+// Fix for compatibility with Servo library
+#ifdef USING_SERVO_LIB
+	// Set callbacks as used, allowing DueTimer::getAvailable() to work
+	void (*DueTimer::callbacks[9])() = {
+		(void (*)()) 1, // Timer 0 - Occupied
+		(void (*)()) 0, // Timer 1
+		(void (*)()) 1, // Timer 2 - Occupied
+		(void (*)()) 1, // Timer 3 - Occupied
+		(void (*)()) 1, // Timer 4 - Occupied
+		(void (*)()) 1, // Timer 5 - Occupied
+		(void (*)()) 0, // Timer 6
+		(void (*)()) 0, // Timer 7
+		(void (*)()) 0  // Timer 8
+	};
+#else
+	void (*DueTimer::callbacks[9])() = {};
+#endif
 double DueTimer::_frequency[9] = {-1,-1,-1,-1,-1,-1,-1,-1,-1};
 
 /*
 	Initializing all timers, so you can use them like this: Timer0.start();
 */
 DueTimer Timer(0);
 
-DueTimer Timer0(0);
 DueTimer Timer1(1);
-DueTimer Timer2(2);
-DueTimer Timer3(3);
-DueTimer Timer4(4);
-DueTimer Timer5(5);
+// Fix for compatibility with Servo library
+#ifndef USING_SERVO_LIB
+	DueTimer Timer0(0);
+	DueTimer Timer2(2);
+	DueTimer Timer3(3);
+	DueTimer Timer4(4);
+	DueTimer Timer5(5);
+#endif
 DueTimer Timer6(6);
 DueTimer Timer7(7);
 DueTimer Timer8(8);
@@ -228,14 +247,19 @@ long DueTimer::getPeriod(){
 	Implementation of the timer callbacks defined in 
 	arduino-1.5.2/hardware/arduino/sam/system/CMSIS/Device/ATMEL/sam3xa/include/sam3x8e.h
 */
+// Fix for compatibility with Servo library
+#ifndef USING_SERVO_LIB
 void TC0_Handler(){
 	TC_GetStatus(TC0, 0);
 	DueTimer::callbacks[0]();
 }
+#endif
 void TC1_Handler(){
 	TC_GetStatus(TC0, 1);
 	DueTimer::callbacks[1]();
 }
+// Fix for compatibility with Servo library
+#ifndef USING_SERVO_LIB
 void TC2_Handler(){
 	TC_GetStatus(TC0, 2);
 	DueTimer::callbacks[2]();
@@ -252,6 +276,7 @@ void TC5_Handler(){
 	TC_GetStatus(TC1, 2);
 	DueTimer::callbacks[5]();
 }
+#endif
 void TC6_Handler(){
 	TC_GetStatus(TC2, 0);
 	DueTimer::callbacks[6]();

diff --git a/DueTimer.h b/DueTimer.h
@@ -16,6 +16,20 @@
 
 #include <inttypes.h>
 
+/*
+	This fixes compatibility for Arduono Servo Library.
+	Uncomment to make it compatible.
+
+	Note that:
+		+ Timers: 0,2,3,4,5 WILL NOT WORK, and will
+				  neither be accessible by Timer0,...
+*/
+// #define USING_SERVO_LIB	true
+
+#ifdef USING_SERVO_LIB
+	#warning "HEY! You have set flag USING_SERVO_LIB. Timer0, 2,3,4 and 5 are not available"
+#endif
+
 class DueTimer
 {
 protected:
@@ -62,12 +76,15 @@ class DueTimer
 // Just to call Timer.getAvailable instead of Timer::getAvailable() :
 extern DueTimer Timer;
 
-extern DueTimer Timer0;
 extern DueTimer Timer1;
-extern DueTimer Timer2;
-extern DueTimer Timer3;
-extern DueTimer Timer4;
-extern DueTimer Timer5;
+// Fix for compatibility with Servo library
+#ifndef USING_SERVO_LIB
+	extern DueTimer Timer0;
+	extern DueTimer Timer2;
+	extern DueTimer Timer3;
+	extern DueTimer Timer4;
+	extern DueTimer Timer5;
+#endif
 extern DueTimer Timer6;
 extern DueTimer Timer7;
 extern DueTimer Timer8;
@@ -76,4 +93,4 @@ extern DueTimer Timer8;
 
 #else
 	#error Oops! Trying to include DueTimer on another device?
-#endif
+#endif
diff --git a/README.md b/README.md
@@ -7,6 +7,7 @@ Timer Library to work with Arduino DUE
 1. [Download](https://github.com/ivanseidel/DueTimer/releases) the Latest release from gitHub.
 2. Unzip and modify the Folder name to "DueTimer" (Remove the '-version')
 3. Paste the modified folder on your Library folder (On your `Libraries` folder inside Sketchbooks or Arduino software).
+4. Re-open Arduino Software
 
 ## Getting Started
 
@@ -69,6 +70,16 @@ DueTimer::getAvailable().attachInterrupt(callback2).start(10);
 // And so on...
 ```
 
+### Compatibility with Servo.h
+
+Because Servo Library uses the same callbacks of DueTimer, we provides a custom solution for working with both of them. However, Timers 0,2,3,4 and 5 will not Work anymore.
+
+You will need uncommend the line in `DueTimer.h` in `DueTimer` folder inside the `Libraries` folder. Uncomment the following line in `DueTimer.h`:
+
+```
+#define USING_SERVO_LIB	true
+```
+
 ## Library Reference
 
 ### You should know: