Portenta_H7_ISR_Servo Library

Why do we need this Portenta_H7_ISR_Servo library
Changelog
Prerequisites
Installation
Packages' Patches
- 1. For Portenta_H7 boards using Arduino IDE in Linux
More useful Information about STM32 Timers
HOWTO Usage
Examples
Example Portenta_H7_ISR_MultiServos
- 1. File Portenta_H7_ISR_MultiServos.ino
Debug Terminal Output Samples
Debug
Troubleshooting
Issues
TO DO
DONE
Contributions and Thanks
Contributing
License
Copyright

Why do we need this Portenta_H7_ISR_Servo library

Features

Imagine you have a system with a mission-critical function controlling a robot arm or doing something much more important. You normally use a software timer to poll, or even place the function in loop(). But what if another function is blocking the loop() or setup().

So your function might not be executed, and the result would be disastrous.

You'd prefer to have your function called, no matter what happening with other functions (busy loop, bug, etc.).

The correct choice is to use a Hardware Timer with Interrupt to call your function.

These hardware timers, using interrupt, still work even if other functions are blocking. Moreover, they are much more precise (certainly depending on clock frequency accuracy) than other software timers using millis() or micros(). That's necessary if you need to measure some data requiring better accuracy.

Functions using normal software timers, relying on loop() and calling millis(), won't work if the loop() or setup() is blocked by certain operation. For example, certain function is blocking while it's connecting to WiFi or some services.

This library enables you to use 1 Hardware Timer on an STM32H747XI-based Portenta_H7 board to control up to 16 independent servo motors.

Important Notes about using ISR

Inside the attached function, delay() won’t work and the value returned by millis() will not increment. Serial data received while in the function may be lost. You should declare as volatile any variables that you modify within the attached function.
Typically global variables are used to pass data between an ISR and the main program. To make sure variables shared between an ISR and the main program are updated correctly, declare them as volatile.
Avoid using Serial.print()-related functions inside ISR. Just for temporary debug purpose, but even this also can crash the system any time. Beware.
Your functions are now part of ISR (Interrupt Service Routine), and must be lean / mean, and follow certain rules. More to read on:

HOWTO Attach Interrupt

Currently supported Boards

Portenta_H7 boards such as Portenta_H7 Rev2 ABX00042, etc., using ArduinoCore-mbed mbed_portenta core

Prerequisites

Arduino IDE 1.8.19+ for Arduino.
ArduinoCore-mbed mbed_portenta core 3.4.1+ for Arduino Portenta_H7 boards, such as Portenta_H7 Rev2 ABX00042, etc..

Installation

Use Arduino Library Manager

The best and easiest way is to use Arduino Library Manager. Search for Portenta_H7_ISR_Servo, then select / install the latest version. You can also use this link for more detailed instructions.

Manual Install

Another way to install is to:

Navigate to Portenta_H7_ISR_Servo page.
Download the latest release Portenta_H7_ISR_Servo-main.zip.
Extract the zip file to Portenta_H7_ISR_Servo-main directory
Copy whole Portenta_H7_ISR_Servo-main folder to Arduino libraries' directory such as ~/Arduino/libraries/.

VS Code & PlatformIO

Install VS Code
Install PlatformIO
Install Portenta_H7_ISR_Servo library by using Library Manager. Search for Portenta_H7_ISR_Servo in Platform.io Author's Libraries
Use included platformio.ini file from examples to ensure that all dependent libraries will installed automatically. Please visit documentation for the other options and examples at Project Configuration File

Packages' Patches

1. For Portenta_H7 boards using Arduino IDE in Linux

To be able to upload firmware to Portenta_H7 using Arduino IDE in Linux (Ubuntu, etc.), you have to copy the file portenta_post_install.sh into mbed_portenta directory (~/.arduino15/packages/arduino/hardware/mbed_portenta/3.4.1/portenta_post_install.sh).

Then run the following command using sudo

$ cd ~/.arduino15/packages/arduino/hardware/mbed_portenta/3.4.1
$ chmod 755 portenta_post_install.sh
$ sudo ./portenta_post_install.sh

This will create the file /etc/udev/rules.d/49-portenta_h7.rules as follows:

# Portenta H7 bootloader mode UDEV rules

SUBSYSTEMS=="usb", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="035b", GROUP="plugdev", MODE="0666"

Supposing the ArduinoCore-mbed core version is 3.4.1. Now only one file must be copied into the directory:

~/.arduino15/packages/arduino/hardware/mbed_portenta/3.4.1/portenta_post_install.sh

Whenever a new version is installed, remember to copy this files into the new version directory. For example, new version is x.yy.zz

This file must be copied into the directory:

~/.arduino15/packages/arduino/hardware/mbed_portenta/x.yy.zz/portenta_post_install.sh

More useful Information about STM32 Timers

The Timers of STM32s are numerous, yet very sophisticated and powerful.

In general, across the STM32 microcontrollers families, the timer peripherals that have the same name also have the same features set, but there are a few exceptions.

The general purpose timers embedded by the STM32 microcontrollers share the same backbone structure; they differ only on the level of features embedded by a given timer peripheral.

The level of features integration for a given timer peripheral is decided based on the applications field that it targets.

The timer peripherals can be classified as:

• Advanced-configuration timers like TIM1 and TIM8 among others. • General-purpose configuration timers like TIM2 and TIM3 among others • Lite-configuration timers like TIM9, TIM10, TIM12 and TIM16 among others • Basic-configuration timers like TIM6 and TIM7 among others.

More information can be found at Embedded-Lab STM32 TIMERS

To be sure which Timer is available for the board you're using, check the Core Package's related files. For example, for Portenta_H7 using STM32H747XI, check this file:

~/.arduino15/packages/STM32/hardware/stm32/2.0.0/system/Drivers/CMSIS/Device/ST/STM32H7xx/Include/stm32h7xx.h

The information will be as follows:

typedef struct
{
  __IO uint32_t CR1;         /*!< TIM control register 1,                   Address offset: 0x00 */
  __IO uint32_t CR2;         /*!< TIM control register 2,                   Address offset: 0x04 */
  __IO uint32_t SMCR;        /*!< TIM slave mode control register,          Address offset: 0x08 */
  __IO uint32_t DIER;        /*!< TIM DMA/interrupt enable register,        Address offset: 0x0C */
  __IO uint32_t SR;          /*!< TIM status register,                      Address offset: 0x10 */
  __IO uint32_t EGR;         /*!< TIM event generation register,            Address offset: 0x14 */
  __IO uint32_t CCMR1;       /*!< TIM capture/compare mode register 1,      Address offset: 0x18 */
  __IO uint32_t CCMR2;       /*!< TIM capture/compare mode register 2,      Address offset: 0x1C */
  __IO uint32_t CCER;        /*!< TIM capture/compare enable register,      Address offset: 0x20 */
  __IO uint32_t CNT;         /*!< TIM counter register,                     Address offset: 0x24 */
  __IO uint32_t PSC;         /*!< TIM prescaler,                            Address offset: 0x28 */
  __IO uint32_t ARR;         /*!< TIM auto-reload register,                 Address offset: 0x2C */
  __IO uint32_t RCR;         /*!< TIM repetition counter register,          Address offset: 0x30 */
  __IO uint32_t CCR1;        /*!< TIM capture/compare register 1,           Address offset: 0x34 */
  __IO uint32_t CCR2;        /*!< TIM capture/compare register 2,           Address offset: 0x38 */
  __IO uint32_t CCR3;        /*!< TIM capture/compare register 3,           Address offset: 0x3C */
  __IO uint32_t CCR4;        /*!< TIM capture/compare register 4,           Address offset: 0x40 */
  __IO uint32_t BDTR;        /*!< TIM break and dead-time register,         Address offset: 0x44 */
  __IO uint32_t DCR;         /*!< TIM DMA control register,                 Address offset: 0x48 */
  __IO uint32_t DMAR;        /*!< TIM DMA address for full transfer,        Address offset: 0x4C */
  uint32_t      RESERVED1;   /*!< Reserved, 0x50                                                 */
  __IO uint32_t CCMR3;       /*!< TIM capture/compare mode register 3,      Address offset: 0x54 */
  __IO uint32_t CCR5;        /*!< TIM capture/compare register5,            Address offset: 0x58 */
  __IO uint32_t CCR6;        /*!< TIM capture/compare register6,            Address offset: 0x5C */
  __IO uint32_t AF1;         /*!< TIM alternate function option register 1, Address offset: 0x60 */
  __IO uint32_t AF2;         /*!< TIM alternate function option register 2, Address offset: 0x64 */
  __IO uint32_t TISEL;       /*!< TIM Input Selection register,             Address offset: 0x68 */
} TIM_TypeDef;

and

#define PERIPH_BASE            0x40000000UL /*!< Base address of : AHB/ABP Peripherals   
/*!< Peripheral memory map */
#define APB1PERIPH_BASE        PERIPH_BASE

/*!< APB1 peripherals */
/*!< D2_APB1PERIPH peripherals */
#define TIM2_BASE             (D2_APB1PERIPH_BASE + 0x0000UL)
#define TIM3_BASE             (D2_APB1PERIPH_BASE + 0x0400UL)
#define TIM4_BASE             (D2_APB1PERIPH_BASE + 0x0800UL)
#define TIM5_BASE             (D2_APB1PERIPH_BASE + 0x0C00UL)
#define TIM6_BASE             (D2_APB1PERIPH_BASE + 0x1000UL)
#define TIM7_BASE             (D2_APB1PERIPH_BASE + 0x1400UL)
#define TIM12_BASE            (D2_APB1PERIPH_BASE + 0x1800UL)
#define TIM13_BASE            (D2_APB1PERIPH_BASE + 0x1C00UL)
#define TIM14_BASE            (D2_APB1PERIPH_BASE + 0x2000UL)

/*!< APB2 peripherals */
#define TIM1_BASE             (D2_APB2PERIPH_BASE + 0x0000UL)
#define TIM8_BASE             (D2_APB2PERIPH_BASE + 0x0400UL)
...
#define TIM9_BASE             (APB2PERIPH_BASE + 0x4000UL)
#define TIM10_BASE            (APB2PERIPH_BASE + 0x4400UL)
#define TIM11_BASE            (APB2PERIPH_BASE + 0x4800UL)
...
#define TI15_BASE            (D2_APB2PERIPH_BASE + 0x4000UL)
#define TIM16_BASE            (D2_APB2PERIPH_BASE + 0x4400UL)
#define TIM17_BASE            (D2_APB2PERIPH_BASE + 0x4800UL)
...
#define HRTIM1_BASE           (D2_APB2PERIPH_BASE + 0x7400UL)
#define HRTIM1_TIMA_BASE      (HRTIM1_BASE + 0x00000080UL)
#define HRTIM1_TIMB_BASE      (HRTIM1_BASE + 0x00000100UL)
#define HRTIM1_TIMC_BASE      (HRTIM1_BASE + 0x00000180UL)
#define HRTIM1_TIMD_BASE      (HRTIM1_BASE + 0x00000200UL)
#define HRTIM1_TIME_BASE      (HRTIM1_BASE + 0x00000280UL)
#define HRTIM1_COMMON_BASE    (HRTIM1_BASE + 0x00000380UL)
...
#define TIM2                ((TIM_TypeDef *) TIM2_BASE)
#define TIM3                ((TIM_TypeDef *) TIM3_BASE)
#define TIM4                ((TIM_TypeDef *) TIM4_BASE)
#define TIM5                ((TIM_TypeDef *) TIM5_BASE)
#define TIM6                ((TIM_TypeDef *) TIM6_BASE)
#define TIM7                ((TIM_TypeDef *) TIM7_BASE)
#define TIM13               ((TIM_TypeDef *) TIM13_BASE)
#define TIM14               ((TIM_TypeDef *) TIM14_BASE)
...
#define TIM1                ((TIM_TypeDef *) TIM1_BASE)
#define TIM8                ((TIM_TypeDef *) TIM8_BASE)
...
#define TIM12               ((TIM_TypeDef *) TIM12_BASE)
#define TIM15               ((TIM_TypeDef *) TIM15_BASE)
#define TIM16               ((TIM_TypeDef *) TIM16_BASE)
#define TIM17               ((TIM_TypeDef *) TIM17_BASE)
...
#define HRTIM1              ((HRTIM_TypeDef *) HRTIM1_BASE)
#define HRTIM1_TIMA         ((HRTIM_Timerx_TypeDef *) HRTIM1_TIMA_BASE)
#define HRTIM1_TIMB         ((HRTIM_Timerx_TypeDef *) HRTIM1_TIMB_BASE)
#define HRTIM1_TIMC         ((HRTIM_Timerx_TypeDef *) HRTIM1_TIMC_BASE)
#define HRTIM1_TIMD         ((HRTIM_Timerx_TypeDef *) HRTIM1_TIMD_BASE)
#define HRTIM1_TIME         ((HRTIM_Timerx_TypeDef *) HRTIM1_TIME_BASE)
#define HRTIM1_COMMON       ((HRTIM_Common_TypeDef *) HRTIM1_COMMON_BASE)

Available Timers for Portenta_H7

This is the temporary list for Portenta_H7 Timers which can be used. The available Timers certainly depends on they are being used for other purpose (core, application, libraries, etc.) or not. You have to exhausively test yourself to be sure.

1. OK to use

TIM1, TIM4, TIM7, TIM8, TIM12, TIM13, TIM14, TIM15, TIM16, TIM17

2. Not exist

TIM9, TIM10, TIM11. Only for STM32F2, STM32F4 or STM32L1

3.Not declared

TIM18, TIM19, TIM20, TIM21, TIM22

3. Not OK => conflict or crash

TIM2, TIM3, TIM5, TIM6

New functions

// returns last position in degrees if success, or -1 on wrong servoIndex
int getPosition(unsigned servoIndex);

// returns pulseWidth in microsecs (within min/max range) if success, or 0 on wrong servoIndex
unsigned int getPulseWidth(unsigned servoIndex);

What special in this Portenta_H7_ISR_Servo library

Now these new 16 ISR-based Servo controllers just use one Portenta_H7 Hardware Timer. The number 16 is just arbitrarily chosen, and depending on application, you can increase that number to 32, 48, etc. without problem.

The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers

Therefore, their executions are not blocked by bad-behaving functions / tasks. This important feature is absolutely necessary for mission-critical tasks.

The Portenta_H7_MultipleServos example, which controls 6 servos independently, will demonstrate the nearly perfect accuracy.

Being ISR-based servo controllers, their executions are not blocked by bad-behaving functions / tasks, such as connecting to WiFi, Internet and Blynk services.

This non-being-blocked important feature is absolutely necessary for mission-critical tasks.

HOWTO Usage

How to use:

Portenta_H7_ISR_Servo/examples/Portenta_H7_MultipleServos/Portenta_H7_MultipleServos.ino

Lines 55 to 154 in 8ba85d9

    
           #if !( ( defined(ARDUINO_PORTENTA_H7_M7) || defined(ARDUINO_PORTENTA_H7_M4) ) && defined(ARDUINO_ARCH_MBED) ) 
        
             #error This code is intended to run on the MBED ARDUINO_PORTENTA_H7 platform! Please check your Tools->Board setting. 
        
           #endif 
        
           #define TIMER_INTERRUPT_DEBUG       0 
        
           #define ISR_SERVO_DEBUG             1 
        
           #include "Portenta_H7_ISR_Servo.h" 
        
           // Default is TIMER_SERVO (TIM7 for many boards) 
        
           #define USE_PORTENTA_H7_TIMER_NO          TIM15 
        
           // Published values for SG90 servos; adjust if needed 
        
           #define MIN_MICROS      800  //544 
        
           #define MAX_MICROS      2450 
        
           #define SERVO_PIN_1       D1 
        
           #define SERVO_PIN_2       D2 
        
           #define SERVO_PIN_3       D3 
        
           #define SERVO_PIN_4       D4 
        
           #define SERVO_PIN_5       D5 
        
           #define SERVO_PIN_6       D6 
        
           typedef struct 
        
           { 
        
             int     servoIndex; 
        
             uint8_t servoPin; 
        
           } ISR_servo_t; 
        
           #define NUM_SERVOS        6 
        
           ISR_servo_t ISR_servo[NUM_SERVOS] = 
        
           { 
        
             { -1, SERVO_PIN_1 }, { -1, SERVO_PIN_2 }, { -1, SERVO_PIN_3 }, { -1, SERVO_PIN_4 }, { -1, SERVO_PIN_5 }, { -1, SERVO_PIN_6 } 
        
           }; 
        
           void setup() 
        
           { 
        
             Serial.begin(115200); 
        
             while (!Serial); 
        
             delay(200); 
        
             Serial.print(F("\nStarting Portenta_H7_MultipleServos on ")); 
        
             Serial.println(BOARD_NAME); 
        
             Serial.println(PORTENTA_H7_ISR_SERVO_VERSION); 
        
             //Select Portenta_H7 timer USE_PORTENTA_H7_TIMER_NO 
        
             Portenta_H7_ISR_Servos.useTimer(USE_PORTENTA_H7_TIMER_NO); 
        
             for (int index = 0; index < NUM_SERVOS; index++) 
        
             { 
        
               ISR_servo[index].servoIndex = Portenta_H7_ISR_Servos.setupServo(ISR_servo[index].servoPin, MIN_MICROS, MAX_MICROS); 
        
               if (ISR_servo[index].servoIndex != -1) 
        
               { 
        
                 Serial.print(F("Setup OK Servo index = ")); 
        
                 Serial.println(ISR_servo[index].servoIndex); 
        
               } 
        
               else 
        
               { 
        
                 Serial.print(F("Setup Failed Servo index = ")); 
        
                 Serial.println(ISR_servo[index].servoIndex); 
        
               } 
        
             } 
        
           } 
        
           void loop() 
        
           { 
        
             int position;      // position in degrees 
        
             for (position = 0; position <= 180; position += 5) 
        
             { 
        
               // goes from 0 degrees to 180 degrees 
        
               // in steps of 1 degree 
        
               for (int index = 0; index < NUM_SERVOS; index++) 
        
               { 
        
                 Portenta_H7_ISR_Servos.setPosition(ISR_servo[index].servoIndex, (position + index * (180 / NUM_SERVOS)) % 180 ); 
        
               } 
        
               // waits 1s for the servo to reach the position 
        
               delay(1000); 
        
             } 
        
             for (position = 180; position >= 0; position -= 5) 
        
             { 
        
               // goes from 0 degrees to 180 degrees 
        
               // in steps of 1 degree 
        
               for (int index = 0; index < NUM_SERVOS; index++) 
        
               { 
        
                 Portenta_H7_ISR_Servos.setPosition(ISR_servo[index].servoIndex, (position + index * (180 / NUM_SERVOS)) % 180); 
        
               } 
        
               // waits 1s for the servo to reach the position 
        
               delay(1000); 
        
             } 
        
             delay(5000); 
        
           }

Examples:

Example Portenta_H7_ISR_MultiServos

1. File Portenta_H7_ISR_MultiServos.ino

Portenta_H7_ISR_Servo/examples/Portenta_H7_ISR_MultiServos/Portenta_H7_ISR_MultiServos.ino

Lines 55 to 152 in 8ba85d9

    
           #if !( ( defined(ARDUINO_PORTENTA_H7_M7) || defined(ARDUINO_PORTENTA_H7_M4) ) && defined(ARDUINO_ARCH_MBED) ) 
        
             #error This code is intended to run on the MBED ARDUINO_PORTENTA_H7 platform! Please check your Tools->Board setting. 
        
           #endif 
        
           #define TIMER_INTERRUPT_DEBUG       0 
        
           #define ISR_SERVO_DEBUG             1 
        
           #include "Portenta_H7_ISR_Servo.h" 
        
           // Default is TIMER_SERVO (TIM7 for many boards) 
        
           #define USE_PORTENTA_H7_TIMER_NO          TIM15 
        
           // Published values for SG90 servos; adjust if needed 
        
           #define MIN_MICROS      800  //544 
        
           #define MAX_MICROS      2450 
        
           #define SERVO_PIN_1       D5 
        
           #define SERVO_PIN_2       D6 
        
           int servoIndex1  = -1; 
        
           int servoIndex2  = -1; 
        
           void setup() 
        
           { 
        
             Serial.begin(115200); 
        
             while (!Serial); 
        
             delay(500); 
        
             Serial.print(F("\nStarting Portenta_H7_ISR_MultiServos on ")); 
        
             Serial.println(BOARD_NAME); 
        
             Serial.println(PORTENTA_H7_ISR_SERVO_VERSION); 
        
             //Select Portenta_H7 timer USE_PORTENTA_H7_TIMER_NO 
        
             Portenta_H7_ISR_Servos.useTimer(USE_PORTENTA_H7_TIMER_NO); 
        
             servoIndex1 = Portenta_H7_ISR_Servos.setupServo(SERVO_PIN_1, MIN_MICROS, MAX_MICROS); 
        
             servoIndex2 = Portenta_H7_ISR_Servos.setupServo(SERVO_PIN_2, MIN_MICROS, MAX_MICROS); 
        
             if (servoIndex1 != -1) 
        
               Serial.println(F("Setup Servo1 OK")); 
        
             else 
        
               Serial.println(F("Setup Servo1 failed")); 
        
             if (servoIndex2 != -1) 
        
               Serial.println(F("Setup Servo2 OK")); 
        
             else 
        
               Serial.println(F("Setup Servo2 failed")); 
        
           } 
        
           void loop() 
        
           { 
        
             int position; 
        
             if ( ( servoIndex1 != -1) && ( servoIndex2 != -1) ) 
        
             { 
        
               for (position = 0; position <= 180; position++) 
        
               { 
        
                 // goes from 0 degrees to 180 degrees 
        
                 // in steps of 1 degree 
        
                 if (position % 30 == 0) 
        
                 { 
        
                   Serial.print(F("Servo1 pos = ")); 
        
                   Serial.print(position); 
        
                   Serial.print(F(", Servo2 pos = ")); 
        
                   Serial.println(180 - position); 
        
                 } 
        
                 Portenta_H7_ISR_Servos.setPosition(servoIndex1, position); 
        
                 Portenta_H7_ISR_Servos.setPosition(servoIndex2, 180 - position); 
        
                 // waits 30ms for the servo to reach the position 
        
                 delay(30); 
        
               } 
        
               delay(5000); 
        
               for (position = 180; position >= 0; position--) 
        
               { 
        
                 // goes from 180 degrees to 0 degrees 
        
                 if (position % 30 == 0) 
        
                 { 
        
                   Serial.print(F("Servo1 pos = ")); 
        
                   Serial.print(position); 
        
                   Serial.print(F(", Servo2 pos = ")); 
        
                   Serial.println(180 - position); 
        
                 } 
        
                 Portenta_H7_ISR_Servos.setPosition(servoIndex1, position); 
        
                 Portenta_H7_ISR_Servos.setPosition(servoIndex2, 180 - position); 
        
                 // waits 30ms for the servo to reach the position 
        
                 delay(30); 
        
               } 
        
               delay(5000); 
        
             } 
        
           }

Debug Terminal Output Samples

1. Portenta_H7_MultipleRandomServos on PORTENTA_H7_M7

Starting Portenta_H7_MultipleRandomServos on PORTENTA_H7_M7
Portenta_H7_ISR_Servo v1.0.0
[ISR_SERVO] Portenta_H7_FastTimerInterrupt: Timer Input Freq (Hz) = 200000000
[ISR_SERVO] Frequency = 1000000.00 , _count = 10
[ISR_SERVO] Starting  ITimer OK
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Setup OK Servo index = 3
Setup OK Servo index = 4
Setup OK Servo index = 5
Servos @ 0 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
0, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 80 , pos = 0
800
Servos @ 90 degree
Servos idx = 0, act. pos. (deg) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 0
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 1, act. pos. (deg) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 1
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 2, act. pos. (deg) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 2
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 3, act. pos. (deg) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 3
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 4, act. pos. (deg) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 4
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos idx = 5, act. pos. (deg) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 162 , pos = 90
90, pulseWidth (us) = [ISR_SERVO] Idx = 5
[ISR_SERVO] cnt = 162 , pos = 90
1620
Servos @ 180 degree

2. Portenta_H7_MultipleServos on PORTENTA_H7_M7

Starting Portenta_H7_MultipleServos on PORTENTA_H7_M7
Portenta_H7_ISR_Servo v1.0.0
[ISR_SERVO] Portenta_H7_FastTimerInterrupt: Timer Input Freq (Hz) = 200000000
[ISR_SERVO] Frequency = 1000000.00 , _count = 10
[ISR_SERVO] Starting  ITimer OK
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Setup OK Servo index = 3
Setup OK Servo index = 4
Setup OK Servo index = 5

3. Portenta_H7_ISR_MultiServos on PORTENTA_H7_M7

Starting Portenta_H7_ISR_MultiServos on PORTENTA_H7_M7
Portenta_H7_ISR_Servo v1.0.0
[ISR_SERVO] Portenta_H7_FastTimerInterrupt: Timer Input Freq (Hz) = 200000000
[ISR_SERVO] Frequency = 1000000.00 , _count = 10
[ISR_SERVO] Starting  ITimer OK
Setup Servo1 OK
Setup Servo2 OK
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 180, Servo2 pos = 0
Servo1 pos = 150, Servo2 pos = 30
Servo1 pos = 120, Servo2 pos = 60
Servo1 pos = 90, Servo2 pos = 90
Servo1 pos = 60, Servo2 pos = 120
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 0, Servo2 pos = 180
Servo1 pos = 30, Servo2 pos = 150
Servo1 pos = 60, Servo2 pos = 120

Debug

Debug is enabled by default on Serial.

You can also change the debugging level from 0 to 2. Be careful and using level 2 only for temporary debug purpose only.

#define TIMER_INTERRUPT_DEBUG       1
#define ISR_SERVO_DEBUG             1

Troubleshooting

If you get compilation errors, more often than not, you may need to install a newer version of the core for Arduino boards.

Sometimes, the library will only work if you update the board core to the latest version because I am using newly added functions.

Issues

Submit issues to: Portenta_H7_ISR_Servo issues

TO DO

Search for bug and improvement.

DONE

Add functions getPosition() and getPulseWidth()
Optimize the code
Add more complicated examples
Add astyle using allman style. Restyle the library

Contributions and thanks

Many thanks for everyone for bug reporting, new feature suggesting, testing and contributing to the development of this library. Especially to these people who have directly or indirectly contributed to this Portenta_H7_ISR_Servo library

Contributing

If you want to contribute to this project:

Report bugs and errors
Ask for enhancements
Create issues and pull requests
Tell other people about this library

License

The library is licensed under MIT

Name		Name	Last commit message	Last commit date
Latest commit History 28 Commits
.github		.github
Packages_Patches/arduino/hardware/mbed_portenta		Packages_Patches/arduino/hardware/mbed_portenta
examples		examples
pics		pics
platformio		platformio
src		src
utils		utils
.codespellrc		.codespellrc
.gitignore		.gitignore
CONTRIBUTING.md		CONTRIBUTING.md
LICENSE		LICENSE
README.md		README.md
changelog.md		changelog.md
keywords.txt		keywords.txt
library.json		library.json
library.properties		library.properties

	#if !( ( defined(ARDUINO_PORTENTA_H7_M7) \|\| defined(ARDUINO_PORTENTA_H7_M4) ) && defined(ARDUINO_ARCH_MBED) )
	#error This code is intended to run on the MBED ARDUINO_PORTENTA_H7 platform! Please check your Tools->Board setting.
	#endif

	#define TIMER_INTERRUPT_DEBUG 0
	#define ISR_SERVO_DEBUG 1

	#include "Portenta_H7_ISR_Servo.h"

	// Default is TIMER_SERVO (TIM7 for many boards)
	#define USE_PORTENTA_H7_TIMER_NO TIM15

	// Published values for SG90 servos; adjust if needed
	#define MIN_MICROS 800 //544
	#define MAX_MICROS 2450

	#define SERVO_PIN_1 D1
	#define SERVO_PIN_2 D2
	#define SERVO_PIN_3 D3
	#define SERVO_PIN_4 D4
	#define SERVO_PIN_5 D5
	#define SERVO_PIN_6 D6

	typedef struct
	{
	int servoIndex;
	uint8_t servoPin;
	} ISR_servo_t;

	#define NUM_SERVOS 6

	ISR_servo_t ISR_servo[NUM_SERVOS] =
	{
	{ -1, SERVO_PIN_1 }, { -1, SERVO_PIN_2 }, { -1, SERVO_PIN_3 }, { -1, SERVO_PIN_4 }, { -1, SERVO_PIN_5 }, { -1, SERVO_PIN_6 }
	};

	void setup()
	{
	Serial.begin(115200);

	while (!Serial);

	delay(200);

	Serial.print(F("\nStarting Portenta_H7_MultipleServos on "));
	Serial.println(BOARD_NAME);
	Serial.println(PORTENTA_H7_ISR_SERVO_VERSION);

	//Select Portenta_H7 timer USE_PORTENTA_H7_TIMER_NO
	Portenta_H7_ISR_Servos.useTimer(USE_PORTENTA_H7_TIMER_NO);

	for (int index = 0; index < NUM_SERVOS; index++)
	{
	ISR_servo[index].servoIndex = Portenta_H7_ISR_Servos.setupServo(ISR_servo[index].servoPin, MIN_MICROS, MAX_MICROS);

	if (ISR_servo[index].servoIndex != -1)
	{
	Serial.print(F("Setup OK Servo index = "));
	Serial.println(ISR_servo[index].servoIndex);
	}
	else
	{
	Serial.print(F("Setup Failed Servo index = "));
	Serial.println(ISR_servo[index].servoIndex);
	}
	}
	}

	void loop()
	{
	int position; // position in degrees

	for (position = 0; position <= 180; position += 5)
	{
	// goes from 0 degrees to 180 degrees
	// in steps of 1 degree
	for (int index = 0; index < NUM_SERVOS; index++)
	{
	Portenta_H7_ISR_Servos.setPosition(ISR_servo[index].servoIndex, (position + index * (180 / NUM_SERVOS)) % 180 );
	}

	// waits 1s for the servo to reach the position
	delay(1000);
	}

	for (position = 180; position >= 0; position -= 5)
	{
	// goes from 0 degrees to 180 degrees
	// in steps of 1 degree
	for (int index = 0; index < NUM_SERVOS; index++)
	{
	Portenta_H7_ISR_Servos.setPosition(ISR_servo[index].servoIndex, (position + index * (180 / NUM_SERVOS)) % 180);
	}

	// waits 1s for the servo to reach the position
	delay(1000);
	}

	delay(5000);
	}

License

khoih-prog/Portenta_H7_ISR_Servo

Folders and files

Latest commit

History

Repository files navigation

Portenta_H7_ISR_Servo Library

Table of Contents

Why do we need this Portenta_H7_ISR_Servo library

Features

Important Notes about using ISR

Currently supported Boards

Prerequisites

Installation

Use Arduino Library Manager

Manual Install

VS Code & PlatformIO

Packages' Patches

1. For Portenta_H7 boards using Arduino IDE in Linux

More useful Information about STM32 Timers

Available Timers for Portenta_H7

1. OK to use

2. Not exist

3.Not declared

3. Not OK => conflict or crash

New functions

What special in this Portenta_H7_ISR_Servo library

HOWTO Usage

Examples:

Example Portenta_H7_ISR_MultiServos

1. File Portenta_H7_ISR_MultiServos.ino

Debug Terminal Output Samples

1. Portenta_H7_MultipleRandomServos on PORTENTA_H7_M7

2. Portenta_H7_MultipleServos on PORTENTA_H7_M7

3. Portenta_H7_ISR_MultiServos on PORTENTA_H7_M7

Debug

Troubleshooting

Issues

TO DO

DONE

Contributions and thanks

Contributing

License

Copyright

About

Resources

License

Contributing

Uh oh!

Stars

Watchers

Forks

Releases 1

Packages 0

Uh oh!

Languages

Packages