v1.2.0 to fix bug

### Releases v1.2.0

1. Permit using servos with different pulse ranges simultaneously. Check [Fix Bug #5 : Permit using servos with different pulse ranges simultaneously #4](khoih-prog/RP2040_ISR_Servo#4)
2. Delete left-over `cpp`

CONTRIBUTING.md

@@ -29,7 +29,7 @@ Please ensure to specify the following:
 Arduino IDE version: 1.8.19
 Arduino NRF52 Core Version 1.3.0
 OS: Ubuntu 20.04 LTS
-Linux xy-Inspiron-3593 5.4.0-100-generic #113-Ubuntu SMP Thu Feb 3 18:43:29 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux
+Linux xy-Inspiron-3593 5.13.0-40-generic #45~20.04.1-Ubuntu SMP Mon Apr 4 09:38:31 UTC 2022 x86_64 x86_64 x86_64 GNU/Linux
 
 Context:
 I encountered a crash while trying to use the Timer Interrupt.

README.md

@@ -232,7 +232,7 @@ https://github.com/khoih-prog/NRF52_ISR_Servo/blob/4260125278f38956f8fdeaca58249
 
 ```
 Starting NRF52_MultipleRandomServos on NRF52840_FEATHER
-NRF52_ISR_Servo v1.1.0
+NRF52_ISR_Servo v1.2.0
 Setup OK Servo index = 0
 Setup OK Servo index = 1
 Setup OK Servo index = 2
@@ -305,7 +305,7 @@ Servos sweeps from 0-180 degree
 
 ```
 Starting NRF52_MultipleRandomServos on NRF52840_ITSYBITSY
-NRF52_ISR_Servo v1.1.0
+NRF52_ISR_Servo v1.2.0
 Setup OK Servo index = 0
 Setup OK Servo index = 1
 Setup OK Servo index = 2
@@ -422,7 +422,7 @@ Submit issues to: [NRF52_ISR_Servo issues](https://github.com/khoih-prog/NRF52_I
 6. Add example [multiFileProject](examples/multiFileProject) to demo for multiple-file project
 7. Optimize code by using passing by `reference` instead of by `value`
 8. Add support to `Sparkfun Pro nRF52840 Mini`
-
+9. Permit using servos with different pulse ranges simultaneously
 
 ---
 ---

changelog.md

@@ -12,6 +12,7 @@
 ## Table of Contents
 
 * [Changelog](#changelog)
+  * [Releases v1.2.0](#releases-v120)
   * [Releases v1.1.0](#releases-v110)
   * [Releases v1.0.0](#releases-v100)
 
@@ -21,6 +22,11 @@
 
 ## Changelog
 
+### Releases v1.2.0
+
+1. Permit using servos with different pulse ranges simultaneously. Check [Fix Bug #5 : Permit using servos with different pulse ranges simultaneously #4](https://github.com/khoih-prog/RP2040_ISR_Servo/pull/4)
+2. Delete left-over `cpp`
+
 ### Releases v1.1.0
 
 1. Convert to `h-only` style.

examples/nRF52_MultipleRandomServos/nRF52_MultipleRandomServos.ino

@@ -52,7 +52,6 @@
 #define TIMER_INTERRUPT_DEBUG       4
 #define ISR_SERVO_DEBUG             4
 
-// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
 #include "NRF52_ISR_Servo.h"
 
 // Published values for SG90 servos; adjust if needed
@@ -68,7 +67,7 @@
 
 typedef struct
 {
-  int8_t  servoIndex;
+  int     servoIndex;
   uint8_t servoPin;
 } ISR_servo_t;
 

examples/nRF52_MultipleServos/nRF52_MultipleServos.ino

@@ -52,7 +52,6 @@
 #define TIMER_INTERRUPT_DEBUG       1
 #define ISR_SERVO_DEBUG             1
 
-// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
 #include "NRF52_ISR_Servo.h"
 
 // Published values for SG90 servos; adjust if needed
@@ -68,7 +67,7 @@
 
 typedef struct
 {
-  int8_t  servoIndex;
+  int     servoIndex;
   uint8_t servoPin;
 } ISR_servo_t;
 
@@ -89,7 +88,7 @@ void setup()
   Serial.print(F("\nStarting NRF52_MultipleServos on ")); Serial.println(BOARD_NAME);
   Serial.println(NRF52_ISR_SERVO_VERSION);
 
-  for (int8_t index = 0; index < NUM_SERVOS; index++)
+  for (int index = 0; index < NUM_SERVOS; index++)
   {
     ISR_servo[index].servoIndex = NRF52_ISR_Servos.setupServo(ISR_servo[index].servoPin, MIN_MICROS, MAX_MICROS);
 

library.json

@@ -1,6 +1,6 @@
 {
   "name": "NRF52_ISR_Servo",
-  "version": "1.1.0",
+  "version": "1.2.0",
   "keywords": "timing, device, control, timer, interrupt, isr, pwm, servo, isr-servo, hardware-timer, mission-critical, accuracy, precise, non-blocking, nrf52, nrf52840, nrf52832, feather-nrf52840, sparkfun-nrf52840, itsybitsy-nrf52840",
   "description": "This library enables you to use 1 Hardware PWM module on nRF52832/nRF52840-based board, such as AdaFruit Feather nRF52832, nRF52840 Express, Itsy-Bitsy nRF52840 Express, etc. to control up to 16 or more servo motors.",
   "authors":

library.properties

@@ -1,5 +1,5 @@
 name=NRF52_ISR_Servo
-version=1.1.0
+version=1.2.0
 author=Khoi Hoang
 maintainer=Khoi Hoang <khoih.prog@gmail.com>
 license=MIT

src/NRF52_ISR_Servo.h

@@ -9,12 +9,13 @@
   Built by Khoi Hoang https://github.com/khoih-prog/NRF52_ISR_Servo
   Licensed under MIT license
 
-  Version: 1.1.0
+  Version: 1.2.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K Hoang      22/08/2021 Initial coding for nRF52832/nRF52840 boards
   1.1.0   K Hoang      03/03/2022 Convert to `h-only` style. Optimize code. Add support to `Sparkfun Pro nRF52840 Mini`
+  1.2.0   K Hoang      23/04/2022 Permit using servos with different pulse ranges simultaneously. Delete left-over `cpp`
  *****************************************************************************************************************************/
 
 #pragma once

src/NRF52_ISR_Servo.hpp

@@ -9,12 +9,13 @@
   Built by Khoi Hoang https://github.com/khoih-prog/NRF52_ISR_Servo
   Licensed under MIT license
 
-  Version: 1.1.0
+  Version: 1.2.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K Hoang      22/08/2021 Initial coding for nRF52832/nRF52840 boards
   1.1.0   K Hoang      03/03/2022 Convert to `h-only` style. Optimize code. Add support to `Sparkfun Pro nRF52840 Mini`
+  1.2.0   K Hoang      23/04/2022 Permit using servos with different pulse ranges simultaneously. Delete left-over `cpp`
  *****************************************************************************************************************************/
 
 #pragma once
@@ -33,13 +34,13 @@
 #include <Adafruit_TinyUSB.h>
 
 #if !defined(NRF52_ISR_SERVO_VERSION)
-  #define NRF52_ISR_SERVO_VERSION             "NRF52_ISR_Servo v1.1.0"
+  #define NRF52_ISR_SERVO_VERSION             "NRF52_ISR_Servo v1.2.0"
 
   #define NRF52_ISR_SERVO_VERSION_MAJOR       1
-  #define NRF52_ISR_SERVO_VERSION_MINOR       1
+  #define NRF52_ISR_SERVO_VERSION_MINOR       2
   #define NRF52_ISR_SERVO_VERSION_PATCH       0
 
-  #define NRF52_ISR_SERVO_VERSION_INT         1001000
+  #define NRF52_ISR_SERVO_VERSION_INT         1002000
 
 #endif
 
@@ -104,7 +105,9 @@ class NRF52_ISR_Servo
     //////////////////////////////////////////////////
 
     // Bind servo to the timer and pin, return servoIndex
-    int8_t setupServo(const uint8_t& pin, const uint16_t& minUs = MIN_PULSE_WIDTH, const uint16_t& maxUs = MAX_PULSE_WIDTH, int value = 0);
+    //int8_t setupServo(const uint8_t& pin, const uint16_t& minUs = MIN_PULSE_WIDTH, const uint16_t& maxUs = MAX_PULSE_WIDTH, int value = 0);
+    int8_t setupServo(const uint8_t& pin, const uint16_t& minPulseUs = MIN_PULSE_WIDTH, 
+                      const uint16_t& maxPulseUs = MAX_PULSE_WIDTH, uint16_t value = 0);
 
     // if value is < MIN_PULSE_WIDTH its treated as an angle, otherwise as pulse width in microseconds
     void write(const uint8_t& servoIndex, uint16_t value);
@@ -186,15 +189,15 @@ class NRF52_ISR_Servo
 
     //////////////////////////////////////////////////
 
-    uint16_t      _minUs;
-    uint16_t      _maxUs;
-
     typedef struct
     {
       uint8_t       pin;                  // pin servo connected to
       int           position;             // In degrees
       bool          enabled;              // true if enabled
 
+      uint16_t      minPulseUs;           // The minimum pulse width the servo can handle
+      uint16_t      maxPulseUs;           // The maximum pulse width the servo can handle
+
       HardwarePWM* pwm;
     } servo_t;
 

src/NRF52_ISR_Servo_Debug.h

@@ -9,12 +9,13 @@
   Built by Khoi Hoang https://github.com/khoih-prog/NRF52_ISR_Servo
   Licensed under MIT license
 
-  Version: 1.1.0
+  Version: 1.2.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K Hoang      22/08/2021 Initial coding for nRF52832/nRF52840 boards
   1.1.0   K Hoang      03/03/2022 Convert to `h-only` style. Optimize code. Add support to `Sparkfun Pro nRF52840 Mini`
+  1.2.0   K Hoang      23/04/2022 Permit using servos with different pulse ranges simultaneously. Delete left-over `cpp`
  *****************************************************************************************************************************/
 
 #pragma once

src/NRF52_ISR_Servo_Impl.h

@@ -9,12 +9,13 @@
   Built by Khoi Hoang https://github.com/khoih-prog/NRF52_ISR_Servo
   Licensed under MIT license
 
-  Version: 1.1.0
+  Version: 1.2.0
 
   Version Modified By   Date      Comments
   ------- -----------  ---------- -----------
   1.0.0   K Hoang      22/08/2021 Initial coding for nRF52832/nRF52840 boards
   1.1.0   K Hoang      03/03/2022 Convert to `h-only` style. Optimize code. Add support to `Sparkfun Pro nRF52840 Mini`
+  1.2.0   K Hoang      23/04/2022 Permit using servos with different pulse ranges simultaneously. Delete left-over `cpp`
  *****************************************************************************************************************************/
 
 #pragma once
@@ -65,7 +66,8 @@ int8_t NRF52_ISR_Servo::findFirstFreeSlot()
 
 //////////////////////////////////////////////////
 
-int8_t NRF52_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minUs, const uint16_t& maxUs, int value)
+//int8_t NRF52_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minUs, const uint16_t& maxUs, int value)
+int8_t NRF52_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minPulseUs, const uint16_t& maxPulseUs, uint16_t value)
 {
   int8_t servoIndex;
 
@@ -81,10 +83,10 @@ int8_t NRF52_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minUs, co
     return -1;
 
   pinMode(pin, OUTPUT);
-
-  _maxUs = maxUs;
-  _minUs = minUs;
 
+  servo[servoIndex].maxPulseUs = maxPulseUs;
+  servo[servoIndex].minPulseUs = minPulseUs;
+
   servo[servoIndex].position = 0;
 
   numServos++;
@@ -139,7 +141,7 @@ int8_t NRF52_ISR_Servo::setupServo(const uint8_t& pin, const uint16_t& minUs, co
   ///////////////////////////////////////////
 
   ISR_SERVO_LOGDEBUG1("Index =", servoIndex);
-  ISR_SERVO_LOGDEBUG3("min =", _minUs, ", max =", _maxUs);
+  ISR_SERVO_LOGDEBUG3("min =", servo[servoIndex].minPulseUs, ", max =", servo[servoIndex].maxPulseUs);
 
   Serial.print("setupServo Index ="); Serial.println(servoIndex);
 
@@ -155,7 +157,7 @@ void NRF52_ISR_Servo::write(const uint8_t& servoIndex, uint16_t value)
   {
     // assumed to be 0-180 degrees servo
     value = constrain(value, 0, 180);
-    value = map(value, 0, 180, _minUs, _maxUs);
+    value = map(value, 0, 180, servo[servoIndex].minPulseUs, servo[servoIndex].maxPulseUs);
   }
 
   writeMicroseconds(servoIndex, value);
@@ -165,7 +167,7 @@ void NRF52_ISR_Servo::write(const uint8_t& servoIndex, uint16_t value)
 
 void NRF52_ISR_Servo::writeMicroseconds(const uint8_t& servoIndex, uint16_t value) 
 {
-  value = constrain(value, _minUs, _maxUs);
+  value = constrain(value, servo[servoIndex].minPulseUs, servo[servoIndex].maxPulseUs);
   servo[servoIndex].position = value;
 
   if ( (servo[servoIndex].enabled) && (servo[servoIndex].pwm) )
@@ -189,7 +191,7 @@ bool NRF52_ISR_Servo::setPosition(const uint8_t& servoIndex, uint16_t position)
     {
       // assumed to be 0-180 degrees servo
       position = constrain(position, 0, 180);
-      position = map(position, 0, 180, _minUs, _maxUs);
+      position = map(position, 0, 180, servo[servoIndex].minPulseUs, servo[servoIndex].maxPulseUs);
     }
 
     servo[servoIndex].position = position;
@@ -239,12 +241,12 @@ bool NRF52_ISR_Servo::setPulseWidth(const uint8_t& servoIndex, uint16_t& pulseWi
   // Updates interval of existing specified servo
   if ( servo[servoIndex].enabled && (servo[servoIndex].pin <= NRF52_MAX_PIN) )
   {
-    if (pulseWidth < _minUs)
-      pulseWidth = _minUs;
-    else if (pulseWidth > _maxUs)
-      pulseWidth = _maxUs;
+    if (pulseWidth < servo[servoIndex].minPulseUs)
+      pulseWidth = servo[servoIndex].minPulseUs;
+    else if (pulseWidth > servo[servoIndex].maxPulseUs)
+      pulseWidth = servo[servoIndex].maxPulseUs;
 
-    servo[servoIndex].position  = map(pulseWidth, _minUs, _maxUs, 0, 180);
+    servo[servoIndex].position  = map(pulseWidth, servo[servoIndex].minPulseUs, servo[servoIndex].maxPulseUs, 0, 180);
 
     ISR_SERVO_LOGERROR3("Idx =", servoIndex, ", pos =",servo[servoIndex].position);
 
@@ -344,7 +346,7 @@ bool NRF52_ISR_Servo::enable(const uint8_t& servoIndex)
     return false;
   }
 
-  if ( servo[servoIndex].position >= _minUs )
+  if ( servo[servoIndex].position >= servo[servoIndex].minPulseUs )
     servo[servoIndex].enabled = true;
 
   return true;
@@ -373,7 +375,7 @@ void NRF52_ISR_Servo::enableAll()
 
   for (int8_t servoIndex = 0; servoIndex < MAX_SERVOS; servoIndex++)
   {
-    if ( (servo[servoIndex].position >= _minUs) && !servo[servoIndex].enabled 
+    if ( (servo[servoIndex].position >= servo[servoIndex].minPulseUs) && !servo[servoIndex].enabled 
       && (servo[servoIndex].pin <= NRF52_MAX_PIN) )
     {
       servo[servoIndex].enabled = true;