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v1.1.0 to convert to h-only style, etc.
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### Releases v1.1.0

1. Convert to `h-only` style
2. Add example [multiFileProject](examples/multiFileProject) to demo for multiple-file project
3. Fix `setPulseWidth()` bug. Check [setPulseWidth - removed wrong map #2](#2)
4. Optimize code by using passing by `reference` instead of by `value`
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11 changes: 6 additions & 5 deletions CONTRIBUTING.md
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Expand Up @@ -14,8 +14,8 @@ If you don't find anything, please [open a new issue](https://github.com/khoih-p

Please ensure to specify the following:

* Arduino IDE version (e.g. 1.8.16) or Platform.io version
* `Arduino mbed_rp2040` Core Version (e.g. Arduino mbed_rp2040 core v2.5.2) or `RP2040` Core Version (e.g. RP2040 core v1.9.5)
* Arduino IDE version (e.g. 1.8.19) or Platform.io version
* `Arduino mbed_rp2040` Core Version (e.g. Arduino mbed_rp2040 core v2.7.2) or `RP2040` Core Version (e.g. RP2040 core v1.12.0)
* `RP2040` Board type (e.g. Nano_RP2040_Connect, RASPBERRY_PI_PICO, ADAFRUIT_FEATHER_RP2040, GENERIC_RP2040, etc.)
* Contextual information (e.g. what you were trying to achieve)
* Simplest possible steps to reproduce
Expand All @@ -27,11 +27,11 @@ Please ensure to specify the following:
### Example

```
Arduino IDE version: 1.8.16
Arduino mbed_rp2040 core v2.5.2
Arduino IDE version: 1.8.19
Arduino mbed_rp2040 core v2.7.2
RASPBERRY_PI_PICO board
OS: Ubuntu 20.04 LTS
Linux xy-Inspiron-3593 5.4.0-86-generic #97-Ubuntu SMP Fri Sep 17 19:19:40 UTC 2021 x86_64 x86_64 x86_64 GNU/Linux
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
Context:
I encountered a crash while trying to use the Timer Interrupt.
Expand All @@ -52,3 +52,4 @@ There are usually some outstanding feature requests in the [existing issues list
### Sending Pull Requests

Pull Requests with changes and fixes are also welcome!

167 changes: 55 additions & 112 deletions README.md
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Expand Up @@ -13,6 +13,7 @@

## Table of Contents

* [Important Change from v1.1.0](#Important-Change-from-v110)
* [Why do we need this RP2040_ISR_Servo library](#why-do-we-need-this-rp2040_isr_servo-library)
* [Features](#features)
* [Important Notes about using ISR](#important-notes-about-using-isr)
Expand All @@ -23,11 +24,13 @@
* [Use Arduino Library Manager](#use-arduino-library-manager)
* [Manual Install](#manual-install)
* [VS Code & PlatformIO](#vs-code--platformio)
* [HOWTO Fix `Multiple Definitions` Linker Error](#howto-fix-multiple-definitions-linker-error)
* [What special in this RP2040_ISR_Servo library](#what-special-in-this-RP2040_ISR_Servo-library)
* [HOWTO Usage](#howto-usage)
* [Examples](#examples)
* [ 1. RP2040_MultipleRandomServos](examples/RP2040_MultipleRandomServos)
* [ 2. RP2040_MultipleServos](examples/RP2040_MultipleServos)
* [ 3. multiFileProject](examples/multiFileProject) **New**
* [Example RP2040_MultipleServos](#example-rp2040_multipleservos)
* [1. File RP2040_MultipleServos.ino](#1-file-rp2040_multipleservosino)
* [Debug Terminal Output Samples](#debug-terminal-output-samples)
Expand All @@ -45,6 +48,14 @@
* [Copyright](#copyright)


---
---

### Important Change from v1.1.0

Please have a look at [HOWTO Fix `Multiple Definitions` Linker Error](#howto-fix-multiple-definitions-linker-error)


---
---

Expand Down Expand Up @@ -92,7 +103,7 @@ This library enables you to use `1 Hardware Timer` on an RP2040-based board to c

1. [`Arduino IDE 1.8.19+` for Arduino](https://github.com/arduino/Arduino). [![GitHub release](https://img.shields.io/github/release/arduino/Arduino.svg)](https://github.com/arduino/Arduino/releases/latest)
2. [`Arduino mbed_rp2040 core 2.7.2+`](https://github.com/arduino/ArduinoCore-mbed) for Arduino (Use Arduino Board Manager) RP2040-based boards, such as **Arduino Nano RP2040 Connect, RASPBERRY_PI_PICO, etc.**. [![GitHub release](https://img.shields.io/github/release/arduino/ArduinoCore-mbed.svg)](https://github.com/arduino/ArduinoCore-mbed/releases/latest)
3. [`Earle Philhower's arduino-pico core v1.10.0+`](https://github.com/earlephilhower/arduino-pico) for RP2040-based boards such as **RASPBERRY_PI_PICO, ADAFRUIT_FEATHER_RP2040 and GENERIC_RP2040**, etc. [![GitHub release](https://img.shields.io/github/release/earlephilhower/arduino-pico.svg)](https://github.com/earlephilhower/arduino-pico/releases/latest)
3. [`Earle Philhower's arduino-pico core v1.12.0+`](https://github.com/earlephilhower/arduino-pico) for RP2040-based boards such as **RASPBERRY_PI_PICO, ADAFRUIT_FEATHER_RP2040 and GENERIC_RP2040**, etc. [![GitHub release](https://img.shields.io/github/release/earlephilhower/arduino-pico.svg)](https://github.com/earlephilhower/arduino-pico/releases/latest)

---

Expand All @@ -116,9 +127,35 @@ Another way to install is to:

1. Install [VS Code](https://code.visualstudio.com/)
2. Install [PlatformIO](https://platformio.org/platformio-ide)
3. Install [**RP2040_ISR_Servo** library](https://platformio.org/lib/show/12713/RP2040_ISR_Servo) by using [Library Manager](https://platformio.org/lib/show/12713/RP2040_ISR_Servo/installation). Search for **RP2040_ISR_Servo** in [Platform.io Author's Libraries](https://platformio.org/lib/search?query=author:%22Khoi%20Hoang%22)
3. Install [**RP2040_ISR_Servo** library](https://registry.platformio.org/libraries/khoih-prog/RP2040_ISR_Servo) by using [Library Manager](https://registry.platformio.org/libraries/khoih-prog/RP2040_ISR_Servo/installation). Search for **RP2040_ISR_Servo** in [Platform.io Author's Libraries](https://platformio.org/lib/search?query=author:%22Khoi%20Hoang%22)
4. Please visit documentation for the other options and examples at [Project Configuration File](https://docs.platformio.org/page/projectconf.html)

---
---

### HOWTO Fix `Multiple Definitions` Linker Error

The current library implementation, using `xyz-Impl.h` instead of standard `xyz.cpp`, possibly creates certain `Multiple Definitions` Linker error in certain use cases.

You can include this `.hpp` file

```
// Can be included as many times as necessary, without `Multiple Definitions` Linker Error
#include "RP2040_ISR_Servo.hpp" //https://github.com/khoih-prog/RP2040_ISR_Servo
```

in many files. But be sure to use the following `.h` file **in just 1 `.h`, `.cpp` or `.ino` file**, which must **not be included in any other file**, to avoid `Multiple Definitions` Linker Error

```
// To be included only in main(), .ino with setup() to avoid `Multiple Definitions` Linker Error
#include "RP2040_ISR_Servo.h" //https://github.com/khoih-prog/RP2040_ISR_Servo
```

Check the new [**multiFileProject** example](examples/multiFileProject) for a `HOWTO` demo.

Have a look at the discussion in [Different behaviour using the src_cpp or src_h lib #80](https://github.com/khoih-prog/ESPAsync_WiFiManager/discussions/80)


---
---

Expand Down Expand Up @@ -304,7 +341,8 @@ void loop()
### Examples:

1. [RP2040_MultipleRandomServos](examples/RP2040_MultipleRandomServos)
2. [RP2040_MultipleServos](examples/RP2040_MultipleServos)
2. [RP2040_MultipleServos](examples/RP2040_MultipleServos)
3. [multiFileProject](examples/multiFileProject) **New**

---

Expand All @@ -313,113 +351,8 @@ void loop()

#### 1. File [RP2040_MultipleServos.ino](examples/RP2040_MultipleServos/RP2040_MultipleServos.ino)

```cpp
#if ( defined(ARDUINO_ARCH_RP2040) || defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || \
defined(ARDUINO_GENERIC_RP2040) ) && !defined(ARDUINO_ARCH_MBED)
#if !defined(RP2040_ISR_SERVO_USING_MBED)
#define RP2040_ISR_SERVO_USING_MBED false
#endif

#elif ( defined(ARDUINO_NANO_RP2040_CONNECT) || defined(ARDUINO_RASPBERRY_PI_PICO) || defined(ARDUINO_ADAFRUIT_FEATHER_RP2040) || \
defined(ARDUINO_GENERIC_RP2040) ) && defined(ARDUINO_ARCH_MBED)

#if !defined(RP2040_ISR_SERVO_USING_MBED)
#define RP2040_ISR_SERVO_USING_MBED true
#endif

#else
#error This code is intended to run on the mbed / non-mbed RP2040 platform! Please check your Tools->Board setting.
#endif

#define TIMER_INTERRUPT_DEBUG 4
#define ISR_SERVO_DEBUG 4

#include "RP2040_ISR_Servo.h"

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

#define SERVO_PIN_1 16
#define SERVO_PIN_2 17
#define SERVO_PIN_3 18
#define SERVO_PIN_4 19
#define SERVO_PIN_5 20
#define SERVO_PIN_6 21

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

https://github.com/khoih-prog/RP2040_ISR_Servo/blob/39e160439b9b4e7c5238202379bd042121784f65/examples/RP2040_MultipleServos/RP2040_MultipleServos.ino#L45-L149

#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()
{
for (int index = 0; index < NUM_SERVOS; index++)
{
pinMode(ISR_servo[index].servoPin, OUTPUT);
digitalWrite(ISR_servo[index].servoPin, LOW);
}

Serial.begin(115200);
while (!Serial);

delay(200);

#if defined(ARDUINO_ARCH_MBED)
Serial.print(F("\nStarting RP2040_MultipleServos on Mbed "));
#else
Serial.print(F("\nStarting RP2040_MultipleServos on "));
#endif

Serial.println(BOARD_NAME);
Serial.println(RP2040_ISR_SERVO_VERSION);

for (int index = 0; index < NUM_SERVOS; index++)
{
ISR_servo[index].servoIndex = RP2040_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);

RP2040_ISR_Servos.setPosition(ISR_servo[index].servoIndex, 0);
}
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 += 10)
{
// goes from 0 degrees to 180 degrees
// in steps of 10 degree
for (int index = 0; index < NUM_SERVOS; index++)
{
RP2040_ISR_Servos.setPosition(ISR_servo[index].servoIndex, position);
}

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

delay(5000);
}
```
---
---

Expand All @@ -430,7 +363,7 @@ void loop()

```
Starting RP2040_MultipleRandomServos on Mbed RaspberryPi Pico
Mbed RP2040_ISR_Servo v1.0.1
Mbed RP2040_ISR_Servo v1.1.0
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Expand Down Expand Up @@ -474,7 +407,7 @@ Servos idx = 5, act. pos. (deg) = 800, pulseWidth (us) = 800

```
Starting RP2040_MultipleRandomServos on RaspberryPi Pico
RP2040_ISR_Servo v1.0.1
RP2040_ISR_Servo v1.1.0
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Expand Down Expand Up @@ -519,7 +452,7 @@ Servos idx = 5, act. pos. (deg) = 800, pulseWidth (us) = 800
```
Starting RP2040_MultipleServos on RASPBERRY_PI_PICO
RP2040_ISR_Servo v1.0.1
RP2040_ISR_Servo v1.1.0
Setup OK Servo index = 0
Setup OK Servo index = 1
Setup OK Servo index = 2
Expand Down Expand Up @@ -573,6 +506,9 @@ Submit issues to: [RP2040_ISR_Servo issues](https://github.com/khoih-prog/RP2040
2. Add functions `getPosition()` and `getPulseWidth()`
3. Optimize the code
4. Add complicated examples
5. Convert to `h-only` style
6. Add example [multiFileProject](examples/multiFileProject) to demo for multiple-file project
7. Optimize code by using passing by `reference` instead of by `value

---
---
Expand All @@ -581,6 +517,13 @@ Submit issues to: [RP2040_ISR_Servo issues](https://github.com/khoih-prog/RP2040

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 [RP2040_ISR_Servo library](https://github.com/khoih-prog/RP2040_ISR_Servo)

1. Thanks to [Radek Voltr](https://github.com/RadekVoltr) for the PR [**setPulseWidth - removed wrong map** #2](https://github.com/khoih-prog/RP2040_ISR_Servo/pull/2), leading to new version v1.1.0

<table>
<tr>
<td align="center"><a href="https://github.com/RadekVoltr"><img src="https://github.com/RadekVoltr.png" width="100px;" alt="RadekVoltr"/><br /><sub><b>Radek Voltr</b></sub></a><br /></td>
</tr>
</table>

---

Expand Down
8 changes: 8 additions & 0 deletions changelog.md
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Expand Up @@ -12,6 +12,7 @@
## Table of Contents

* [Changelog](#changelog)
* [Releases v1.1.0](#releases-v110)
* [Releases v1.0.1](#releases-v101)
* [Releases v1.0.0](#releases-v100)

Expand All @@ -20,6 +21,13 @@

## Changelog

### Releases v1.1.0

1. Convert to `h-only` style
2. Add example [multiFileProject](examples/multiFileProject) to demo for multiple-file project
3. Fix `setPulseWidth()` bug. Check [setPulseWidth - removed wrong map #2](https://github.com/khoih-prog/RP2040_ISR_Servo/pull/2)
4. Optimize code by using passing by `reference` instead of by `value`

### Releases v1.0.1

1. Fix platform in `library.json`
Expand Down
6 changes: 6 additions & 0 deletions keywords.txt
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Expand Up @@ -36,3 +36,9 @@ getNumAvailableServos KEYWORD2
#######################################
# Literals (LITERAL1)
#######################################

RP2040_ISR_SERVO_VERSION LITERAL1
RP2040_ISR_SERVO_VERSION_MAJOR LITERAL1
RP2040_ISR_SERVO_VERSION_MINOR LITERAL1
RP2040_ISR_SERVO_VERSION_PATCH LITERAL1
RP2040_ISR_SERVO_VERSION_INT LITERAL1
7 changes: 4 additions & 3 deletions library.json
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@@ -1,6 +1,6 @@
{
"name": "RP2040_ISR_Servo",
"version": "1.0.1",
"version": "1.1.0",
"keywords": "timing, device, control, timer, interrupt, isr, isr-based, hardware-timer, mission-critical, accuracy, precise, non-blocking, mbed, rpi-pico, rp2040, nano-rp2040-connect, servo",
"description": "This library enables you to use 1 Hardware Timer on RP2040-based board, such as Nano_RP2040_Connect, RASPBERRY_PI_PICO, to control up to 16 or more servo motors.",
"authors":
Expand All @@ -21,9 +21,10 @@
"extras",
"tests"
]
},
},
"license": "MIT",
"frameworks": "*",
"platforms": ["raspberrypi"],
"examples": "examples/*/*/*.ino",
"license": "MIT"
"headers": ["RP2040_ISR_Servo.h","RP2040_ISR_Servo.hpp"]
}
6 changes: 3 additions & 3 deletions library.properties
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@@ -1,11 +1,11 @@
name=RP2040_ISR_Servo
version=1.0.1
version=1.1.0
author=Khoi Hoang
maintainer=Khoi Hoang <khoih.prog@gmail.com>
license=MIT
sentence=This library enables you to use Interrupt from Hardware Timers on RP2040 board to control multiple servo motors.
paragraph=This library enables you to use 1 Hardware Timer on RP2040-based board, such as Nano_RP2040_Connect, RASPBERRY_PI_PICO, to control up to 16 or more servo motors.
category=Device Control
url=https://github.com/khoih-prog/RP2040_ISR_Servo
architectures=mbed_rp2040, rp2040
includes=RP2040_ISR_Servo.h
architectures=mbed_rp2040, mbed_nano, rp2040
includes=RP2040_ISR_Servo.h, RP2040_ISR_Servo.hpp
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