Version 2.1.0 Teensy support

README.md

@@ -1,7 +1,7 @@
 # [ServoEasing](https://github.com/ArminJo/ServoEasing) - move your servo more natural
 Available as Arduino library "ServoEasing"
 
-### [Version 2.0.0](https://github.com/ArminJo/ServoEasing/releases)
+### [Version 2.1.0](https://github.com/ArminJo/ServoEasing/releases)
 
 [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
 [![Installation instructions](https://www.ardu-badge.com/badge/ServoEasing.svg?)](https://www.ardu-badge.com/ServoEasing)
@@ -147,7 +147,7 @@ The OneServo example modified for using a PCA9685 expander board and the standar
 You must comment out the line `#define USE_PCA9685_SERVO_EXPANDER` in *ServoEasing.h* to make the expander example work.
 
 ## PCA9685_ExpanderAndServo example
-Combination of OneServo example and PCA9685_Expander example. Move one Servo attached to the Arduino board and one servo attached to the PCA9685 expander board simultaneously.
+Combination of OneServo example and PCA9685_Expander example. Move one servo attached to the Arduino board and one servo attached to the PCA9685 expander board **simultaneously**.
 
 ## PCA9685_ExpanderFor32Servos example
 Program to show the usage of 2 PCA9685 expander boards with 32 servos.
@@ -176,7 +176,7 @@ The API accepts only degree (except for write() and writeMicrosecondsOrUnits())
 On **AVR** Timer1 is used for the Arduino Servo library. To have non blocking easing functions its unused **Channel B** is used to generate an interrupt 100 us before the end of the 20 ms Arduino Servo refresh period. This interrupt then updates all servo values for the next refresh period.
 
 # Supported platforms
-AVR, SAM, SAMD, ESP8266, ESP32, STM32, Apollo3
+AVR, SAM, SAMD, ESP8266, ESP32, STM32, Apollo3, Teensy
 
 # Adding a new platform / board
 Every platform with a Servo library will work without any modifications in blocking mode.<br/>
@@ -198,6 +198,9 @@ If you see strange behavior, you can open the library file *ServoEasing.h* and c
 This will print internal information visible in the Arduino *Serial Monitor* which may help finding the reason for it.
 
 # Revision History
+### Version 2.1.0
+- Added support of **Teensy** boards.
+
 ### Version 2.0.0
 - `PCA9685_Expander` and standard Servos can be controlled simultaneously by defining `USE_SERVO_LIB`.
 - Changed some types to _fast types

examples/EndPositionsTest/ADCUtils.h

@@ -27,10 +27,10 @@
 #if defined(__AVR__)
 #include <Arduino.h>
 
-// PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 Mhz Clock => 19,2 kHz
+// PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 MHz Clock => 19,2 kHz
 #define ADC_PRESCALE2    1 // 26 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE4    2 // 52 microseconds per ADC conversion at 1 MHz
-// PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 Mhz Clock => 9,6 kHz
+// PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 MHz Clock => 9,6 kHz
 #define ADC_PRESCALE8    3 // 104 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE16   4 // 208 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE32   5 // 416 microseconds per ADC conversion at 1 MHz

examples/QuadrupedControl/ADCUtils.h

@@ -27,10 +27,10 @@
 #if defined(__AVR__)
 #include <Arduino.h>
 
-// PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 Mhz Clock => 19,2 kHz
+// PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 MHz Clock => 19,2 kHz
 #define ADC_PRESCALE2    1 // 26 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE4    2 // 52 microseconds per ADC conversion at 1 MHz
-// PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 Mhz Clock => 9,6 kHz
+// PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 MHz Clock => 9,6 kHz
 #define ADC_PRESCALE8    3 // 104 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE16   4 // 208 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE32   5 // 416 microseconds per ADC conversion at 1 MHz

examples/README.md

@@ -53,7 +53,7 @@ The OneServo example modified for using a PCA9685 expander board and the standar
 You must comment out the line `#define USE_PCA9685_SERVO_EXPANDER` in *ServoEasing.h* to make the expander example work.
 
 ## PCA9685_ExpanderAndServo example
-Combination of OneServo example and PCA9685_Expander example. Move one Servo attached to the Arduino board and one servo attached to the PCA9685 expander board simultaneously.
+Combination of OneServo example and PCA9685_Expander example. Move one servo attached to the Arduino board and one servo attached to the PCA9685 expander board **simultaneously**.
 
 ## PCA9685_ExpanderFor32Servos example
 Program to show the usage of 2 PCA9685 expander boards with 32 servos.

examples/RobotArmControl/ADCUtils.h

@@ -27,10 +27,10 @@
 #if defined(__AVR__)
 #include <Arduino.h>
 
-// PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 Mhz Clock => 19,2 kHz
+// PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 MHz Clock => 19,2 kHz
 #define ADC_PRESCALE2    1 // 26 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE4    2 // 52 microseconds per ADC conversion at 1 MHz
-// PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 Mhz Clock => 9,6 kHz
+// PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 MHz Clock => 9,6 kHz
 #define ADC_PRESCALE8    3 // 104 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE16   4 // 208 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE32   5 // 416 microseconds per ADC conversion at 1 MHz

examples/SpeedTest/ADCUtils.h

@@ -27,10 +27,10 @@
 #if defined(__AVR__)
 #include <Arduino.h>
 
-// PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 Mhz Clock => 19,2 kHz
+// PRESCALE4 => 13 * 4 = 52 microseconds per ADC conversion at 1 MHz Clock => 19,2 kHz
 #define ADC_PRESCALE2    1 // 26 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE4    2 // 52 microseconds per ADC conversion at 1 MHz
-// PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 Mhz Clock => 9,6 kHz
+// PRESCALE8 => 13 * 8 = 104 microseconds per ADC sample at 1 MHz Clock => 9,6 kHz
 #define ADC_PRESCALE8    3 // 104 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE16   4 // 208 microseconds per ADC conversion at 1 MHz
 #define ADC_PRESCALE32   5 // 416 microseconds per ADC conversion at 1 MHz

library.properties

@@ -1,9 +1,9 @@
 name=ServoEasing
-version=2.0.0
+version=2.1.0
 author=Armin Joachimsmeyer
 maintainer=Armin Joachimsmeyer <[email protected]>
 sentence=Enables smooth servo movement. <br/>Linear as well as other (Cubic, Circular, Bounce, etc.) ease movements for servos are provided. The Arduino Servo library or PCA9685 servo expanders are supported.<br/>
-paragraph=Just use <b>myServo.easeTo()</b> instead of <b>myServo.write()</b> and you have smooth servo movement.<br/><b>Non blocking</b> movement for all servos attached to the Arduino Servo library is implemented by reusing the interrupts of the Arduino servo timer.<br/><b>All servos can move synchronized.</b><br/><br/>Includes the following <b>easing functions</b>:<ul><li><b>Linear</b>, <b>Quadratic</b>, <b>Cubic</b> and <b>Quartic</b></li><li><b>Sine</b>, <b>Circular</b>, <b>Back</b>, <b>Elastic</b> and <b>Bounce</b></li><li><b>User defined</b></li></ul>Each function supports the <b>easing types</b> <b>In</b>, <b>Out</b>, <b>InOut</b> and <b>BouncingOutIn</b><br/>Trim and reverse operations are supported as well as continuous rotating servos.<br/><br/><b>Requests for enhancements are welcome!</b><br/><br/><b>New:<b>PCA9685_Expander servos and plain servos can run simultaneously.
+paragraph=Just use <b>myServo.easeTo()</b> instead of <b>myServo.write()</b> and you have smooth servo movement.<br/><b>Non blocking</b> movement for all servos attached to the Arduino Servo library is implemented by reusing the interrupts of the Arduino servo timer.<br/><b>All servos can move synchronized.</b><br/><br/>Includes the following <b>easing functions</b>:<ul><li><b>Linear</b>, <b>Quadratic</b>, <b>Cubic</b> and <b>Quartic</b></li><li><b>Sine</b>, <b>Circular</b>, <b>Back</b>, <b>Elastic</b> and <b>Bounce</b></li><li><b>User defined</b></li></ul>Each function supports the <b>easing types</b> <b>In</b>, <b>Out</b>, <b>InOut</b> and <b>BouncingOutIn</b><br/>Trim and reverse operations are supported as well as continuous rotating servos.<br/><br/><b>Requests for enhancements are welcome!</b><br/><br/><b>New:<b>Support of Teensy boards<br/>
 category=Device Control
 url=https://github.com/ArminJo/ServoEasing
 includes=ServoEasing.h

src/ServoEasing.cpp

@@ -72,6 +72,10 @@ HardwareTimer Timer20ms(3);  // 4 timers and 4. timer is used for tone()
 #define ID_TC_FOR_20_MS_TIMER   ID_TC8 // Timer 8 is TC2 channel 2
 #define IRQn_FOR_20_MS_TIMER    TC8_IRQn
 #define HANDLER_FOR_20_MS_TIMER TC8_Handler
+
+#elif defined(TEENSYDUINO)
+// common for all Teensy
+IntervalTimer Timer20ms;
 #endif
 
 // Enable this to see information on each call
@@ -1168,7 +1172,7 @@ void enableServoEasingInterrupt() {
 #elif defined(ARDUINO_ARCH_SAMD)
     // Servo uses timer 4 and we use timer 5. therefore we cannot change clock source to 32 kHz.
     // Enable GCLK for TCC2 and TC5 (timer counter input clock)
-    GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_TC4_TC5)); // GCLK1=32kHz,  GCLK0=48Mhz
+    GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_TC4_TC5)); // GCLK1=32kHz,  GCLK0=48MHz
 //    while (GCLK->STATUS.bit.SYNCBUSY) // not required to wait
 //        ;
 
@@ -1211,6 +1215,9 @@ void enableServoEasingInterrupt() {
     am_hal_ctimer_int_enable(AM_HAL_CTIMER_INT_TIMERA3);
     NVIC_EnableIRQ(CTIMER_IRQn);
 
+#elif defined(TEENSYDUINO)
+    // common for all Teensy
+    Timer20ms.begin(handleServoTimerInterrupt, REFRESH_INTERVAL_MICROS);
 #endif
     sInterruptsAreActive = true;
 }
@@ -1244,6 +1251,8 @@ void disableServoEasingInterrupt() {
 #elif defined(ARDUINO_ARCH_APOLLO3)
     am_hal_ctimer_int_disable(AM_HAL_CTIMER_INT_TIMERA3);
 
+#elif defined(TEENSYDUINO)
+    Timer20ms.end();
 #endif
     sInterruptsAreActive = false;
 }

src/ServoEasing.h

@@ -24,9 +24,9 @@
 #ifndef SERVOEASING_H_
 #define SERVOEASING_H_
 
-#define VERSION_SERVO_EASING "2.0.0"
+#define VERSION_SERVO_EASING "2.1.0"
 #define VERSION_SERVO_EASING_MAJOR 2
-#define VERSION_SERVO_EASING_MINOR 0
+#define VERSION_SERVO_EASING_MINOR 1
 
 // @formatter:off
 /*  *****************************************************************************************************************************
@@ -70,7 +70,7 @@
 #error "Please define only one of the symbols USE_PCA9685_SERVO_EXPANDER or USE_LEIGHTWEIGHT_SERVO_LIB"
 #endif
 
-#if ! ( defined(__AVR__) || defined(ESP8266) || defined(ESP32) || defined(STM32F1xx) || defined(__STM32F1__) || defined(__SAM3X8E__) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_APOLLO3))
+#if ! ( defined(__AVR__) || defined(ESP8266) || defined(ESP32) || defined(STM32F1xx) || defined(__STM32F1__) || defined(__SAM3X8E__) || defined(ARDUINO_ARCH_SAMD) || defined(ARDUINO_ARCH_APOLLO3)|| defined(TEENSYDUINO))
 #warning "No periodic timer support existent (or known) for this platform. Only blocking functions and simple example will run!"
 #endif
 
@@ -180,6 +180,9 @@
 // @formatter:on
 
 /*
+ * Version 2.1.0 - 6/2020
+ * - Teensy support.
+ *
  * Version 2.0.0 - 5/2020
  * - `PCA9685_Expander` and standard Servos can be controlled simultaneously by defining `USE_SERVO_LIB`.
  * - Changed some types to _fast types