diff options
| author | schererleander <leander@schererleander.de> | 2026-01-20 08:34:54 +0100 |
|---|---|---|
| committer | schererleander <leander@schererleander.de> | 2026-01-20 08:34:54 +0100 |
| commit | 85ea4e995a75abe061f6fc375ea0481084dddd43 (patch) | |
| tree | 7eb5d57653ecd8f041aeac4e68d7d554c1168681 /libraries/ESP32Servo | |
Diffstat (limited to 'libraries/ESP32Servo')
| -rw-r--r-- | libraries/ESP32Servo/AddDoxygenToGHPages.sh | 32 | ||||
| -rw-r--r-- | libraries/ESP32Servo/README.md | 94 | ||||
| -rw-r--r-- | libraries/ESP32Servo/doxy.doxyfile | 2428 | ||||
| -rw-r--r-- | libraries/ESP32Servo/examples/Knob/Knob.ino | 85 | ||||
| -rw-r--r-- | libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino | 162 | ||||
| -rw-r--r-- | libraries/ESP32Servo/examples/PWMExample/PWMExample.ino | 36 | ||||
| -rw-r--r-- | libraries/ESP32Servo/examples/Sweep/Sweep.ino | 82 | ||||
| -rw-r--r-- | libraries/ESP32Servo/examples/ToneExample/ToneExample.ino | 25 | ||||
| -rw-r--r-- | libraries/ESP32Servo/examples/analogWriteExample/analogWriteExample.ino | 87 | ||||
| -rw-r--r-- | libraries/ESP32Servo/keywords.txt | 26 | ||||
| -rw-r--r-- | libraries/ESP32Servo/library.properties | 11 | ||||
| -rw-r--r-- | libraries/ESP32Servo/src/ESP32PWM.cpp | 411 | ||||
| -rw-r--r-- | libraries/ESP32Servo/src/ESP32PWM.h | 150 | ||||
| -rw-r--r-- | libraries/ESP32Servo/src/ESP32Servo.cpp | 270 | ||||
| -rw-r--r-- | libraries/ESP32Servo/src/ESP32Servo.h | 171 |
15 files changed, 4070 insertions, 0 deletions
diff --git a/libraries/ESP32Servo/AddDoxygenToGHPages.sh b/libraries/ESP32Servo/AddDoxygenToGHPages.sh new file mode 100644 index 0000000..a62ae0b --- /dev/null +++ b/libraries/ESP32Servo/AddDoxygenToGHPages.sh @@ -0,0 +1,32 @@ +#!/bin/bash + +GITURL=$(git config --get remote.origin.url) + +echo $GITURL + +rm -rf html +git clone $GITURL html +cd html +if ( git checkout origin/gh-pages -b gh-pages) then + echo "Checked out $GITURL gh-pages" +else + echo "Creating out $GITURL gh-pages" + git checkout origin/master -b gh-pages + rm -r * + echo "# A simple README file for the gh-pages branch" > README.md + git add README.md + git commit -m"Replaced gh-pages html with simple readme" + git push -u origin gh-pages +fi +cd .. + +doxygen doxy.doxyfile + +cd html +git add * +git add search/* +git commit -a -m"updating the doxygen" +git push +cd .. +rm -rf html +git checkout master
\ No newline at end of file diff --git a/libraries/ESP32Servo/README.md b/libraries/ESP32Servo/README.md new file mode 100644 index 0000000..fdce8ba --- /dev/null +++ b/libraries/ESP32Servo/README.md @@ -0,0 +1,94 @@ +# Servo Library for ESP32 + +Specifically for the V3.0.0 of Arduino ESP32. All ADC's have been updated to work correctly with the new release + +https://github.com/espressif/arduino-esp32/releases + +This library attempts to faithfully replicate the semantics of the +Arduino Servo library (see http://www.arduino.cc/en/Reference/Servo) +for the ESP32, with two (optional) additions. The two new functions +expose the ability of the ESP32 PWM timers to vary timer width. +# Documentation by Doxygen + +[ESP32Servo Doxygen](https://madhephaestus.github.io/ESP32Servo/annotated.html) + +## License + +Copyright (c) 2017 John K. Bennett. All right reserved. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +## Library Description: +``` + Servo - Class for manipulating servo motors connected to ESP32 pins. + + int attach(pin ) - Attaches the given GPIO pin to the next free channel + (channels that have previously been detached are used first), + returns channel number or 0 if failure. All pin numbers are allowed, + but only pins 2,4,12-19,21-23,25-27,32-33 are recommended. + + int attach(pin, min, max ) - Attaches to a pin setting min and max + values in microseconds; enforced minimum min is 500, enforced max + is 2500. Other semantics are the same as attach(). + + void write () - Sets the servo angle in degrees; a value below 500 is + treated as a value in degrees (0 to 180). These limit are enforced, + i.e., values are constrained as follows: + Value Becomes + ----- ------- + < 0 0 + 0 - 180 value (treated as degrees) + 181 - 499 180 + 500 - (min-1) min + min-max (from attach or default) value (treated as microseconds) + (max+1) - 2500 max + + void writeMicroseconds() - Sets the servo pulse width in microseconds. + min and max are enforced (see above). + + int read() - Gets the last written servo pulse width as an angle between 0 and 180. + + int readMicroseconds() - Gets the last written servo pulse width in microseconds. + + bool attached() - Returns true if this servo instance is attached to a pin. + + void detach() - Stops an the attached servo, frees the attached pin, and frees + its channel for reuse. +``` + +### **New ESP32-specific functions** + +``` + setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY); + as a side effect, the pulse width is recomputed. + + int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY) +``` + +### Useful Defaults: + +default min pulse width for attach(): 544us + +default max pulse width for attach(): 2400us + +default timer width 16 (if timer width is not set) + +default pulse width 1500us (servos are initialized with this value) + +MINIMUM pulse with: 500us + +MAXIMUM pulse with: 2500us + +MAXIMUM number of servos: 16 (this is the number of PWM channels in the ESP32) diff --git a/libraries/ESP32Servo/doxy.doxyfile b/libraries/ESP32Servo/doxy.doxyfile new file mode 100644 index 0000000..cb6481e --- /dev/null +++ b/libraries/ESP32Servo/doxy.doxyfile @@ -0,0 +1,2428 @@ +# Doxyfile 1.8.11 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project. +# +# All text after a double hash (##) is considered a comment and is placed in +# front of the TAG it is preceding. +# +# All text after a single hash (#) is considered a comment and will be ignored. +# The format is: +# TAG = value [value, ...] +# For lists, items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (\" \"). + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# This tag specifies the encoding used for all characters in the config file +# that follow. The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "ESP32Servo" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. This +# could be handy for archiving the generated documentation or if some version +# control system is used. + +PROJECT_NUMBER = + +# Using the PROJECT_BRIEF tag one can provide an optional one line description +# for a project that appears at the top of each page and should give viewer a +# quick idea about the purpose of the project. Keep the description short. + +PROJECT_BRIEF = + +# With the PROJECT_LOGO tag one can specify a logo or an icon that is included +# in the documentation. The maximum height of the logo should not exceed 55 +# pixels and the maximum width should not exceed 200 pixels. Doxygen will copy +# the logo to the output directory. + +PROJECT_LOGO = + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) path +# into which the generated documentation will be written. If a relative path is +# entered, it will be relative to the location where doxygen was started. If +# left blank the current directory will be used. + +OUTPUT_DIRECTORY = . + +# If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub- +# directories (in 2 levels) under the output directory of each output format and +# will distribute the generated files over these directories. Enabling this +# option can be useful when feeding doxygen a huge amount of source files, where +# putting all generated files in the same directory would otherwise causes +# performance problems for the file system. +# The default value is: NO. + +CREATE_SUBDIRS = NO + +# If the ALLOW_UNICODE_NAMES tag is set to YES, doxygen will allow non-ASCII +# characters to appear in the names of generated files. If set to NO, non-ASCII +# characters will be escaped, for example _xE3_x81_x84 will be used for Unicode +# U+3044. +# The default value is: NO. + +ALLOW_UNICODE_NAMES = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# Possible values are: Afrikaans, Arabic, Armenian, Brazilian, Catalan, Chinese, +# Chinese-Traditional, Croatian, Czech, Danish, Dutch, English (United States), +# Esperanto, Farsi (Persian), Finnish, French, German, Greek, Hungarian, +# Indonesian, Italian, Japanese, Japanese-en (Japanese with English messages), +# Korean, Korean-en (Korean with English messages), Latvian, Lithuanian, +# Macedonian, Norwegian, Persian (Farsi), Polish, Portuguese, Romanian, Russian, +# Serbian, Serbian-Cyrillic, Slovak, Slovene, Spanish, Swedish, Turkish, +# Ukrainian and Vietnamese. +# The default value is: English. + +OUTPUT_LANGUAGE = English + +# If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member +# descriptions after the members that are listed in the file and class +# documentation (similar to Javadoc). Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. If set to NO, the Javadoc-style will behave just like regular Qt- +# style comments (thus requiring an explicit @brief command for a brief +# description.) +# The default value is: NO. + +JAVADOC_AUTOBRIEF = NO + +# If the QT_AUTOBRIEF tag is set to YES then doxygen will interpret the first +# line (until the first dot) of a Qt-style comment as the brief description. If +# set to NO, the Qt-style will behave just like regular Qt-style comments (thus +# requiring an explicit \brief command for a brief description.) +# The default value is: NO. + +QT_AUTOBRIEF = NO + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make doxygen treat a +# multi-line C++ special comment block (i.e. a block of //! or /// comments) as +# a brief description. This used to be the default behavior. The new default is +# to treat a multi-line C++ comment block as a detailed description. Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = YES + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = ino=c + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = YES + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = YES + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if <section_label> ... \endif and \cond <section_label> +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = *.cpp *.h *.ino + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = */html/* */doc/* */Release/* *licence.txt* sloeber.ino.cpp *.sh* + + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# <filter> <input-file> +# +# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = *.cpp *.h *.ino + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = YES + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = YES + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = YES + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = YES + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +# If the CLANG_ASSISTED_PARSING tag is set to YES then doxygen will use the +# clang parser (see: http://clang.llvm.org/) for more accurate parsing at the +# cost of reduced performance. This can be particularly helpful with template +# rich C++ code for which doxygen's built-in parser lacks the necessary type +# information. +# Note: The availability of this option depends on whether or not doxygen was +# generated with the -Duse-libclang=ON option for CMake. +# The default value is: NO. + +CLANG_ASSISTED_PARSING = NO + +# If clang assisted parsing is enabled you can provide the compiler with command +# line options that you would normally use when invoking the compiler. Note that +# the include paths will already be set by doxygen for the files and directories +# specified with INPUT and INCLUDE_PATH. +# This tag requires that the tag CLANG_ASSISTED_PARSING is set to YES. + +CLANG_OPTIONS = + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = NO + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to +# search using the keyboard; to jump to the search box use <access key> + S +# (what the <access key> is depends on the OS and browser, but it is typically +# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down +# key> to jump into the search results window, the results can be navigated +# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel +# the search. The filter options can be selected when the cursor is inside the +# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys> +# to select a filter and <Enter> or <escape> to activate or cancel the filter +# option. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +SEARCHENGINE = YES + +# When the SERVER_BASED_SEARCH tag is enabled the search engine will be +# implemented using a web server instead of a web client using Javascript. There +# are two flavors of web server based searching depending on the EXTERNAL_SEARCH +# setting. When disabled, doxygen will generate a PHP script for searching and +# an index file used by the script. When EXTERNAL_SEARCH is enabled the indexing +# and searching needs to be provided by external tools. See the section +# "External Indexing and Searching" for details. +# The default value is: NO. +# This tag requires that the tag SEARCHENGINE is set to YES. + +SERVER_BASED_SEARCH = NO + +# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP +# script for searching. Instead the search results are written to an XML file +# which needs to be processed by an external indexer. Doxygen will invoke an +# external search engine pointed to by the SEARCHENGINE_URL option to obtain the +# search results. +# +# Doxygen ships with an example indexer (doxyindexer) and search engine +# (doxysearch.cgi) which are based on the open source search engine library +# Xapian (see: http://xapian.org/). +# +# See the section "External Indexing and Searching" for details. +# The default value is: NO. +# This tag requires that the tag SEARCHENGINE is set to YES. + +EXTERNAL_SEARCH = NO + +# The SEARCHENGINE_URL should point to a search engine hosted by a web server +# which will return the search results when EXTERNAL_SEARCH is enabled. +# +# Doxygen ships with an example indexer (doxyindexer) and search engine +# (doxysearch.cgi) which are based on the open source search engine library +# Xapian (see: http://xapian.org/). See the section "External Indexing and +# Searching" for details. +# This tag requires that the tag SEARCHENGINE is set to YES. + +SEARCHENGINE_URL = + +# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed +# search data is written to a file for indexing by an external tool. With the +# SEARCHDATA_FILE tag the name of this file can be specified. +# The default file is: searchdata.xml. +# This tag requires that the tag SEARCHENGINE is set to YES. + +SEARCHDATA_FILE = searchdata.xml + +# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the +# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is +# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple +# projects and redirect the results back to the right project. +# This tag requires that the tag SEARCHENGINE is set to YES. + +EXTERNAL_SEARCH_ID = + +# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen +# projects other than the one defined by this configuration file, but that are +# all added to the same external search index. Each project needs to have a +# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of +# to a relative location where the documentation can be found. The format is: +# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ... +# This tag requires that the tag SEARCHENGINE is set to YES. + +EXTRA_SEARCH_MAPPINGS = + +#--------------------------------------------------------------------------- +# Configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output. +# The default value is: YES. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: latex. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. +# +# Note that when enabling USE_PDFLATEX this option is only used for generating +# bitmaps for formulas in the HTML output, but not in the Makefile that is +# written to the output directory. +# The default file is: latex. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate +# index for LaTeX. +# The default file is: makeindex. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES, doxygen generates more compact LaTeX +# documents. This may be useful for small projects and may help to save some +# trees in general. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used by the +# printer. +# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x +# 14 inches) and executive (7.25 x 10.5 inches). +# The default value is: a4. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +PAPER_TYPE = a4 + +# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names +# that should be included in the LaTeX output. The package can be specified just +# by its name or with the correct syntax as to be used with the LaTeX +# \usepackage command. To get the times font for instance you can specify : +# EXTRA_PACKAGES=times or EXTRA_PACKAGES={times} +# To use the option intlimits with the amsmath package you can specify: +# EXTRA_PACKAGES=[intlimits]{amsmath} +# If left blank no extra packages will be included. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the +# generated LaTeX document. The header should contain everything until the first +# chapter. If it is left blank doxygen will generate a standard header. See +# section "Doxygen usage" for information on how to let doxygen write the +# default header to a separate file. +# +# Note: Only use a user-defined header if you know what you are doing! The +# following commands have a special meaning inside the header: $title, +# $datetime, $date, $doxygenversion, $projectname, $projectnumber, +# $projectbrief, $projectlogo. Doxygen will replace $title with the empty +# string, for the replacement values of the other commands the user is referred +# to HTML_HEADER. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_HEADER = + +# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the +# generated LaTeX document. The footer should contain everything after the last +# chapter. If it is left blank doxygen will generate a standard footer. See +# LATEX_HEADER for more information on how to generate a default footer and what +# special commands can be used inside the footer. +# +# Note: Only use a user-defined footer if you know what you are doing! +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_FOOTER = + +# The LATEX_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# LaTeX style sheets that are included after the standard style sheets created +# by doxygen. Using this option one can overrule certain style aspects. Doxygen +# will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_EXTRA_STYLESHEET = + +# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the LATEX_OUTPUT output +# directory. Note that the files will be copied as-is; there are no commands or +# markers available. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_EXTRA_FILES = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is +# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will +# contain links (just like the HTML output) instead of page references. This +# makes the output suitable for online browsing using a PDF viewer. +# The default value is: YES. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +PDF_HYPERLINKS = NO + +# If the USE_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate +# the PDF file directly from the LaTeX files. Set this option to YES, to get a +# higher quality PDF documentation. +# The default value is: YES. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode +# command to the generated LaTeX files. This will instruct LaTeX to keep running +# if errors occur, instead of asking the user for help. This option is also used +# when generating formulas in HTML. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_BATCHMODE = NO + +# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the +# index chapters (such as File Index, Compound Index, etc.) in the output. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_HIDE_INDICES = NO + +# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source +# code with syntax highlighting in the LaTeX output. +# +# Note that which sources are shown also depends on other settings such as +# SOURCE_BROWSER. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_SOURCE_CODE = NO + +# The LATEX_BIB_STYLE tag can be used to specify the style to use for the +# bibliography, e.g. plainnat, or ieeetr. See +# http://en.wikipedia.org/wiki/BibTeX and \cite for more info. +# The default value is: plain. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_BIB_STYLE = plain + +# If the LATEX_TIMESTAMP tag is set to YES then the footer of each generated +# page will contain the date and time when the page was generated. Setting this +# to NO can help when comparing the output of multiple runs. +# The default value is: NO. +# This tag requires that the tag GENERATE_LATEX is set to YES. + +LATEX_TIMESTAMP = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES, doxygen will generate RTF output. The +# RTF output is optimized for Word 97 and may not look too pretty with other RTF +# readers/editors. +# The default value is: NO. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: rtf. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES, doxygen generates more compact RTF +# documents. This may be useful for small projects and may help to save some +# trees in general. +# The default value is: NO. +# This tag requires that the tag GENERATE_RTF is set to YES. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will +# contain hyperlink fields. The RTF file will contain links (just like the HTML +# output) instead of page references. This makes the output suitable for online +# browsing using Word or some other Word compatible readers that support those +# fields. +# +# Note: WordPad (write) and others do not support links. +# The default value is: NO. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's config +# file, i.e. a series of assignments. You only have to provide replacements, +# missing definitions are set to their default value. +# +# See also section "Doxygen usage" for information on how to generate the +# default style sheet that doxygen normally uses. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an RTF document. Syntax is +# similar to doxygen's config file. A template extensions file can be generated +# using doxygen -e rtf extensionFile. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_EXTENSIONS_FILE = + +# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code +# with syntax highlighting in the RTF output. +# +# Note that which sources are shown also depends on other settings such as +# SOURCE_BROWSER. +# The default value is: NO. +# This tag requires that the tag GENERATE_RTF is set to YES. + +RTF_SOURCE_CODE = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES, doxygen will generate man pages for +# classes and files. +# The default value is: NO. + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. A directory man3 will be created inside the directory specified by +# MAN_OUTPUT. +# The default directory is: man. +# This tag requires that the tag GENERATE_MAN is set to YES. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to the generated +# man pages. In case the manual section does not start with a number, the number +# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is +# optional. +# The default value is: .3. +# This tag requires that the tag GENERATE_MAN is set to YES. + +MAN_EXTENSION = .3 + +# The MAN_SUBDIR tag determines the name of the directory created within +# MAN_OUTPUT in which the man pages are placed. If defaults to man followed by +# MAN_EXTENSION with the initial . removed. +# This tag requires that the tag GENERATE_MAN is set to YES. + +MAN_SUBDIR = + +# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it +# will generate one additional man file for each entity documented in the real +# man page(s). These additional files only source the real man page, but without +# them the man command would be unable to find the correct page. +# The default value is: NO. +# This tag requires that the tag GENERATE_MAN is set to YES. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES, doxygen will generate an XML file that +# captures the structure of the code including all documentation. +# The default value is: NO. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: xml. +# This tag requires that the tag GENERATE_XML is set to YES. + +XML_OUTPUT = xml + +# If the XML_PROGRAMLISTING tag is set to YES, doxygen will dump the program +# listings (including syntax highlighting and cross-referencing information) to +# the XML output. Note that enabling this will significantly increase the size +# of the XML output. +# The default value is: YES. +# This tag requires that the tag GENERATE_XML is set to YES. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# Configuration options related to the DOCBOOK output +#--------------------------------------------------------------------------- + +# If the GENERATE_DOCBOOK tag is set to YES, doxygen will generate Docbook files +# that can be used to generate PDF. +# The default value is: NO. + +GENERATE_DOCBOOK = NO + +# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in +# front of it. +# The default directory is: docbook. +# This tag requires that the tag GENERATE_DOCBOOK is set to YES. + +DOCBOOK_OUTPUT = docbook + +# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the +# program listings (including syntax highlighting and cross-referencing +# information) to the DOCBOOK output. Note that enabling this will significantly +# increase the size of the DOCBOOK output. +# The default value is: NO. +# This tag requires that the tag GENERATE_DOCBOOK is set to YES. + +DOCBOOK_PROGRAMLISTING = NO + +#--------------------------------------------------------------------------- +# Configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES, doxygen will generate an +# AutoGen Definitions (see http://autogen.sf.net) file that captures the +# structure of the code including all documentation. Note that this feature is +# still experimental and incomplete at the moment. +# The default value is: NO. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# Configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES, doxygen will generate a Perl module +# file that captures the structure of the code including all documentation. +# +# Note that this feature is still experimental and incomplete at the moment. +# The default value is: NO. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES, doxygen will generate the necessary +# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI +# output from the Perl module output. +# The default value is: NO. +# This tag requires that the tag GENERATE_PERLMOD is set to YES. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES, the Perl module output will be nicely +# formatted so it can be parsed by a human reader. This is useful if you want to +# understand what is going on. On the other hand, if this tag is set to NO, the +# size of the Perl module output will be much smaller and Perl will parse it +# just the same. +# The default value is: YES. +# This tag requires that the tag GENERATE_PERLMOD is set to YES. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file are +# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful +# so different doxyrules.make files included by the same Makefile don't +# overwrite each other's variables. +# This tag requires that the tag GENERATE_PERLMOD is set to YES. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES, doxygen will evaluate all +# C-preprocessor directives found in the sources and include files. +# The default value is: YES. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES, doxygen will expand all macro names +# in the source code. If set to NO, only conditional compilation will be +# performed. Macro expansion can be done in a controlled way by setting +# EXPAND_ONLY_PREDEF to YES. +# The default value is: NO. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +MACRO_EXPANSION = NO + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then +# the macro expansion is limited to the macros specified with the PREDEFINED and +# EXPAND_AS_DEFINED tags. +# The default value is: NO. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +EXPAND_ONLY_PREDEF = NO + +# If the SEARCH_INCLUDES tag is set to YES, the include files in the +# INCLUDE_PATH will be searched if a #include is found. +# The default value is: YES. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by the +# preprocessor. +# This tag requires that the tag SEARCH_INCLUDES is set to YES. + +INCLUDE_PATH = + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will be +# used. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that are +# defined before the preprocessor is started (similar to the -D option of e.g. +# gcc). The argument of the tag is a list of macros of the form: name or +# name=definition (no spaces). If the definition and the "=" are omitted, "=1" +# is assumed. To prevent a macro definition from being undefined via #undef or +# recursively expanded use the := operator instead of the = operator. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this +# tag can be used to specify a list of macro names that should be expanded. The +# macro definition that is found in the sources will be used. Use the PREDEFINED +# tag if you want to use a different macro definition that overrules the +# definition found in the source code. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will +# remove all references to function-like macros that are alone on a line, have +# an all uppercase name, and do not end with a semicolon. Such function macros +# are typically used for boiler-plate code, and will confuse the parser if not +# removed. +# The default value is: YES. +# This tag requires that the tag ENABLE_PREPROCESSING is set to YES. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration options related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES tag can be used to specify one or more tag files. For each tag +# file the location of the external documentation should be added. The format of +# a tag file without this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where loc1 and loc2 can be relative or absolute paths or URLs. See the +# section "Linking to external documentation" for more information about the use +# of tag files. +# Note: Each tag file must have a unique name (where the name does NOT include +# the path). If a tag file is not located in the directory in which doxygen is +# run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create a +# tag file that is based on the input files it reads. See section "Linking to +# external documentation" for more information about the usage of tag files. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES, all external class will be listed in +# the class index. If set to NO, only the inherited external classes will be +# listed. +# The default value is: NO. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES, all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will be +# listed. +# The default value is: YES. + +EXTERNAL_GROUPS = YES + +# If the EXTERNAL_PAGES tag is set to YES, all external pages will be listed in +# the related pages index. If set to NO, only the current project's pages will +# be listed. +# The default value is: YES. + +EXTERNAL_PAGES = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of 'which perl'). +# The default file (with absolute path) is: /usr/bin/perl. + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram +# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to +# NO turns the diagrams off. Note that this option also works with HAVE_DOT +# disabled, but it is recommended to install and use dot, since it yields more +# powerful graphs. +# The default value is: YES. + +CLASS_DIAGRAMS = NO + +# You can define message sequence charts within doxygen comments using the \msc +# command. Doxygen will then run the mscgen tool (see: +# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the +# documentation. The MSCGEN_PATH tag allows you to specify the directory where +# the mscgen tool resides. If left empty the tool is assumed to be found in the +# default search path. + +MSCGEN_PATH = + +# You can include diagrams made with dia in doxygen documentation. Doxygen will +# then run dia to produce the diagram and insert it in the documentation. The +# DIA_PATH tag allows you to specify the directory where the dia binary resides. +# If left empty dia is assumed to be found in the default search path. + +DIA_PATH = + +# If set to YES the inheritance and collaboration graphs will hide inheritance +# and usage relations if the target is undocumented or is not a class. +# The default value is: YES. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz (see: +# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent +# Bell Labs. The other options in this section have no effect if this option is +# set to NO +# The default value is: YES. + +HAVE_DOT = YES + +# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed +# to run in parallel. When set to 0 doxygen will base this on the number of +# processors available in the system. You can set it explicitly to a value +# larger than 0 to get control over the balance between CPU load and processing +# speed. +# Minimum value: 0, maximum value: 32, default value: 0. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_NUM_THREADS = 0 + +# When you want a differently looking font in the dot files that doxygen +# generates you can specify the font name using DOT_FONTNAME. You need to make +# sure dot is able to find the font, which can be done by putting it in a +# standard location or by setting the DOTFONTPATH environment variable or by +# setting DOT_FONTPATH to the directory containing the font. +# The default value is: Helvetica. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_FONTNAME = Helvetica + +# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of +# dot graphs. +# Minimum value: 4, maximum value: 24, default value: 10. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_FONTSIZE = 10 + +# By default doxygen will tell dot to use the default font as specified with +# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set +# the path where dot can find it using this tag. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_FONTPATH = + +# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for +# each documented class showing the direct and indirect inheritance relations. +# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a +# graph for each documented class showing the direct and indirect implementation +# dependencies (inheritance, containment, and class references variables) of the +# class with other documented classes. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +COLLABORATION_GRAPH = YES + +# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for +# groups, showing the direct groups dependencies. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES, doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +UML_LOOK = NO + +# If the UML_LOOK tag is enabled, the fields and methods are shown inside the +# class node. If there are many fields or methods and many nodes the graph may +# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the +# number of items for each type to make the size more manageable. Set this to 0 +# for no limit. Note that the threshold may be exceeded by 50% before the limit +# is enforced. So when you set the threshold to 10, up to 15 fields may appear, +# but if the number exceeds 15, the total amount of fields shown is limited to +# 10. +# Minimum value: 0, maximum value: 100, default value: 10. +# This tag requires that the tag HAVE_DOT is set to YES. + +UML_LIMIT_NUM_FIELDS = 10 + +# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and +# collaboration graphs will show the relations between templates and their +# instances. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +TEMPLATE_RELATIONS = NO + +# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to +# YES then doxygen will generate a graph for each documented file showing the +# direct and indirect include dependencies of the file with other documented +# files. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +INCLUDE_GRAPH = YES + +# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are +# set to YES then doxygen will generate a graph for each documented file showing +# the direct and indirect include dependencies of the file with other documented +# files. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH tag is set to YES then doxygen will generate a call +# dependency graph for every global function or class method. +# +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. Disabling a call graph can be +# accomplished by means of the command \hidecallgraph. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +CALL_GRAPH = YES + +# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller +# dependency graph for every global function or class method. +# +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable caller graphs for selected +# functions only using the \callergraph command. Disabling a caller graph can be +# accomplished by means of the command \hidecallergraph. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +CALLER_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical +# hierarchy of all classes instead of a textual one. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GRAPHICAL_HIERARCHY = YES + +# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the +# dependencies a directory has on other directories in a graphical way. The +# dependency relations are determined by the #include relations between the +# files in the directories. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +DIRECTORY_GRAPH = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. For an explanation of the image formats see the section +# output formats in the documentation of the dot tool (Graphviz (see: +# http://www.graphviz.org/)). +# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order +# to make the SVG files visible in IE 9+ (other browsers do not have this +# requirement). +# Possible values are: png, png:cairo, png:cairo:cairo, png:cairo:gd, png:gd, +# png:gd:gd, jpg, jpg:cairo, jpg:cairo:gd, jpg:gd, jpg:gd:gd, gif, gif:cairo, +# gif:cairo:gd, gif:gd, gif:gd:gd, svg, png:gd, png:gd:gd, png:cairo, +# png:cairo:gd, png:cairo:cairo, png:cairo:gdiplus, png:gdiplus and +# png:gdiplus:gdiplus. +# The default value is: png. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_IMAGE_FORMAT = png + +# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to +# enable generation of interactive SVG images that allow zooming and panning. +# +# Note that this requires a modern browser other than Internet Explorer. Tested +# and working are Firefox, Chrome, Safari, and Opera. +# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make +# the SVG files visible. Older versions of IE do not have SVG support. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +INTERACTIVE_SVG = NO + +# The DOT_PATH tag can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found in the path. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the \dotfile +# command). +# This tag requires that the tag HAVE_DOT is set to YES. + +DOTFILE_DIRS = + +# The MSCFILE_DIRS tag can be used to specify one or more directories that +# contain msc files that are included in the documentation (see the \mscfile +# command). + +MSCFILE_DIRS = + +# The DIAFILE_DIRS tag can be used to specify one or more directories that +# contain dia files that are included in the documentation (see the \diafile +# command). + +DIAFILE_DIRS = + +# When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the +# path where java can find the plantuml.jar file. If left blank, it is assumed +# PlantUML is not used or called during a preprocessing step. Doxygen will +# generate a warning when it encounters a \startuml command in this case and +# will not generate output for the diagram. + +PLANTUML_JAR_PATH = + +# When using plantuml, the specified paths are searched for files specified by +# the !include statement in a plantuml block. + +PLANTUML_INCLUDE_PATH = + +# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes +# that will be shown in the graph. If the number of nodes in a graph becomes +# larger than this value, doxygen will truncate the graph, which is visualized +# by representing a node as a red box. Note that doxygen if the number of direct +# children of the root node in a graph is already larger than +# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that +# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH. +# Minimum value: 0, maximum value: 10000, default value: 50. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_GRAPH_MAX_NODES = 50 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs +# generated by dot. A depth value of 3 means that only nodes reachable from the +# root by following a path via at most 3 edges will be shown. Nodes that lay +# further from the root node will be omitted. Note that setting this option to 1 +# or 2 may greatly reduce the computation time needed for large code bases. Also +# note that the size of a graph can be further restricted by +# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction. +# Minimum value: 0, maximum value: 1000, default value: 0. +# This tag requires that the tag HAVE_DOT is set to YES. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, because dot on Windows does not seem +# to support this out of the box. +# +# Warning: Depending on the platform used, enabling this option may lead to +# badly anti-aliased labels on the edges of a graph (i.e. they become hard to +# read). +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES to allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) support +# this, this feature is disabled by default. +# The default value is: NO. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_MULTI_TARGETS = NO + +# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page +# explaining the meaning of the various boxes and arrows in the dot generated +# graphs. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot +# files that are used to generate the various graphs. +# The default value is: YES. +# This tag requires that the tag HAVE_DOT is set to YES. + +DOT_CLEANUP = YES diff --git a/libraries/ESP32Servo/examples/Knob/Knob.ino b/libraries/ESP32Servo/examples/Knob/Knob.ino new file mode 100644 index 0000000..326679b --- /dev/null +++ b/libraries/ESP32Servo/examples/Knob/Knob.ino @@ -0,0 +1,85 @@ +/* + Controlling a servo position using a potentiometer (variable resistor) + by Michal Rinott <http://people.interaction-ivrea.it/m.rinott> + + modified on 8 Nov 2013 + by Scott Fitzgerald + + modified for the ESP32 on March 2017 + by John Bennett + + see http://www.arduino.cc/en/Tutorial/Knob for a description of the original code + + * Different servos require different pulse widths to vary servo angle, but the range is + * an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos + * sweep 180 degrees, so the lowest number in the published range for a particular servo + * represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top + * of the range represents 180 degrees. So for example, if the range is 1000us to 2000us, + * 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800 + * degrees. + * + * Circuit: (using an ESP32 Thing from Sparkfun) + * Servo motors have three wires: power, ground, and signal. The power wire is typically red, + * the ground wire is typically black or brown, and the signal wire is typically yellow, + * orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw + * considerable power, we will connect servo power to the VBat pin of the ESP32 (located + * near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS. + * + * We could also connect servo power to a separate external + * power source (as long as we connect all of the grounds (ESP32, servo, and external power). + * In this example, we just connect ESP32 ground to servo ground. The servo signal pins + * connect to any available GPIO pins on the ESP32 (in this example, we use pin 18. + * + * In this example, we assume a Tower Pro SG90 small servo connected to VBat. + * The published min and max for this servo are 500 and 2400, respectively. + * These values actually drive the servos a little past 0 and 180, so + * if you are particular, adjust the min and max values to match your needs. + */ + +// Include the ESP32 Arduino Servo Library instead of the original Arduino Servo Library +#include <ESP32Servo.h> + +Servo myservo; // create servo object to control a servo + +// Possible PWM GPIO pins on the ESP32: 0(used by on-board button),2,4,5(used by on-board LED),12-19,21-23,25-27,32-33 +// Possible PWM GPIO pins on the ESP32-S2: 0(used by on-board button),1-17,18(used by on-board LED),19-21,26,33-42 +// Possible PWM GPIO pins on the ESP32-S3: 0(used by on-board button),1-21,35-45,47,48(used by on-board LED) +// Possible PWM GPIO pins on the ESP32-C3: 0(used by on-board button),1-7,8(used by on-board LED),9-10,18-21 +int servoPin = 18; // GPIO pin used to connect the servo control (digital out) +// Possible ADC pins on the ESP32: 0,2,4,12-15,32-39; 34-39 are recommended for analog input +// Possible ADC pins on the ESP32-S2: 1-20 are recommended for analog input +#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3) +int potPin = 10; // GPIO pin used to connect the potentiometer (analog in) +#elif defined(CONFIG_IDF_TARGET_ESP32C3) +int potPin = 4; // GPIO pin used to connect the potentiometer (analog in) +#else +int potPin = 34; // GPIO pin used to connect the potentiometer (analog in) +#endif +int ADC_Max = 4096; // This is the default ADC max value on the ESP32 (12 bit ADC width); + // this width can be set (in low-level oode) from 9-12 bits, for a + // a range of max values of 512-4096 + +int val; // variable to read the value from the analog pin + +void setup() +{ + // Allow allocation of all timers + ESP32PWM::allocateTimer(0); + ESP32PWM::allocateTimer(1); + ESP32PWM::allocateTimer(2); + ESP32PWM::allocateTimer(3); + myservo.setPeriodHertz(50);// Standard 50hz servo + myservo.attach(servoPin, 500, 2400); // attaches the servo on pin 18 to the servo object + // using SG90 servo min/max of 500us and 2400us + // for MG995 large servo, use 1000us and 2000us, + // which are the defaults, so this line could be + // "myservo.attach(servoPin);" +} + +void loop() { + val = analogRead(potPin); // read the value of the potentiometer (value between 0 and 1023) + val = map(val, 0, ADC_Max, 0, 180); // scale it to use it with the servo (value between 0 and 180) + myservo.write(val); // set the servo position according to the scaled value + delay(200); // wait for the servo to get there +} + diff --git a/libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino b/libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino new file mode 100644 index 0000000..510665e --- /dev/null +++ b/libraries/ESP32Servo/examples/Multiple-Servo-Example-Arduino/Multiple-Servo-Example-Arduino.ino @@ -0,0 +1,162 @@ +/* + * ESP32 Servo Example Using Arduino ESP32 Servo Library + * John K. Bennett + * March, 2017 + * + * This sketch uses the Arduino ESP32 Servo Library to sweep 4 servos in sequence. + * + * Different servos require different pulse widths to vary servo angle, but the range is + * an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos + * sweep 180 degrees, so the lowest number in the published range for a particular servo + * represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top + * of the range represents 180 degrees. So for example, if the range is 1000us to 2000us, + * 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800 + * degrees. + * + * Circuit: + * Servo motors have three wires: power, ground, and signal. The power wire is typically red, + * the ground wire is typically black or brown, and the signal wire is typically yellow, + * orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw + * considerable power, we will connect servo power to the VBat pin of the ESP32 (located + * near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS. + * + * We could also connect servo power to a separate external + * power source (as long as we connect all of the grounds (ESP32, servo, and external power). + * In this example, we just connect ESP32 ground to servo ground. The servo signal pins + * connect to any available GPIO pins on the ESP32 (in this example, we use pins + * 22, 19, 23, & 18). + * + * In this example, we assume four Tower Pro SG90 small servos. + * The published min and max for this servo are 500 and 2400, respectively. + * These values actually drive the servos a little past 0 and 180, so + * if you are particular, adjust the min and max values to match your needs. + * Experimentally, 550 and 2350 are pretty close to 0 and 180. + */ + +#include <ESP32Servo.h> + +// create four servo objects +Servo servo1; +Servo servo2; +Servo servo3; +Servo servo4; +Servo servo5; +// Published values for SG90 servos; adjust if needed +int minUs = 1000; +int maxUs = 2000; + +// These are all GPIO pins on the ESP32 +// Recommended pins include 2,4,12-19,21-23,25-27,32-33 +// for the ESP32-S2 the GPIO pins are 1-21,26,33-42 +// for the ESP32-S3 the GPIO pins are 1-21,35-45,47-48 +// for the ESP32-C3 the GPIO pins are 1-10,18-21 +#if defined(CONFIG_IDF_TARGET_ESP32C3) +int servo1Pin = 7; +int servo2Pin = 6; +int servo3Pin = 5; +int servo4Pin = 4; +int servo5Pin = 3; +#else +int servo1Pin = 15; +int servo2Pin = 16; +int servo3Pin = 14; +#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3) +int servo4Pin = 13; +#else +int servo4Pin = 32; +#endif +int servo5Pin = 4; +#endif + +int pos = 0; // position in degrees +ESP32PWM pwm; +void setup() { + // Allow allocation of all timers + ESP32PWM::allocateTimer(0); + ESP32PWM::allocateTimer(1); + ESP32PWM::allocateTimer(2); + ESP32PWM::allocateTimer(3); + Serial.begin(115200); + servo1.setPeriodHertz(50); // Standard 50hz servo + servo2.setPeriodHertz(50); // Standard 50hz servo + servo3.setPeriodHertz(330); // Standard 50hz servo + servo4.setPeriodHertz(200); // Standard 50hz servo + //servo5.setPeriodHertz(50); // Standard 50hz servo + + +} + +void loop() { + servo1.attach(servo1Pin, minUs, maxUs); + servo2.attach(servo2Pin, minUs, maxUs); +#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32C3) + pwm.attachPin(37, 10000);//10khz +#elif defined(CONFIG_IDF_TARGET_ESP32C3) + pwm.attachPin(7, 10000);//10khz +#else + pwm.attachPin(27, 10000);//10khz +#endif + servo3.attach(servo3Pin, minUs, maxUs); + servo4.attach(servo4Pin, minUs, maxUs); + + //servo5.attach(servo5Pin, minUs, maxUs); + + + for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees + // in steps of 1 degree + servo1.write(pos); + delay(1); // waits 20ms for the servo to reach the position + } + for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees + servo1.write(pos); + delay(1); + } + + for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees + // in steps of 1 degree + servo2.write(pos); + delay(1); // waits 20ms for the servo to reach the position + } + for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees + servo2.write(pos); + delay(1); + } + + for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees + // in steps of 1 degree + servo3.write(pos); + delay(1); // waits 20ms for the servo to reach the position + } + for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees + servo3.write(pos); + delay(1); + } + + for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees + // in steps of 1 degree + servo4.write(pos); + delay(1); // waits 20ms for the servo to reach the position + } + for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees + servo4.write(pos); + delay(1); + } + for (pos = 0; pos <= 180; pos += 1) { // sweep from 0 degrees to 180 degrees + // in steps of 1 degree + servo5.write(pos); + delay(1); // waits 20ms for the servo to reach the position + } + for (pos = 180; pos >= 0; pos -= 1) { // sweep from 180 degrees to 0 degrees + servo5.write(pos); + delay(1); + } + servo1.detach(); + servo2.detach();; + servo3.detach(); + servo4.detach(); + pwm.detachPin(27); + + delay(5000); + +} + diff --git a/libraries/ESP32Servo/examples/PWMExample/PWMExample.ino b/libraries/ESP32Servo/examples/PWMExample/PWMExample.ino new file mode 100644 index 0000000..536fc4d --- /dev/null +++ b/libraries/ESP32Servo/examples/PWMExample/PWMExample.ino @@ -0,0 +1,36 @@ +#include <ESP32Servo.h> +int APin = 13; +ESP32PWM pwm; +int freq = 1000; +void setup() { + // Allow allocation of all timers + ESP32PWM::allocateTimer(0); + ESP32PWM::allocateTimer(1); + ESP32PWM::allocateTimer(2); + ESP32PWM::allocateTimer(3); + Serial.begin(115200); + pwm.attachPin(APin, freq, 10); // 1KHz 10 bits + +} +void loop() { + + // fade the LED on thisPin from off to brightest: + for (float brightness = 0; brightness <= 0.5; brightness += 0.001) { + // Write a unit vector value from 0.0 to 1.0 + pwm.writeScaled(brightness); + delay(2); + } + //delay(1000); + // fade the LED on thisPin from brithstest to off: + for (float brightness = 0.5; brightness >= 0; brightness -= 0.001) { + freq += 10; + // Adjust the frequency on the fly with a specific brightness + // Frequency is in herts and duty cycle is a unit vector 0.0 to 1.0 + pwm.adjustFrequency(freq, brightness); // update the time base of the PWM + delay(2); + } + // pause between LEDs: + delay(1000); + freq = 1000; + pwm.adjustFrequency(freq, 0.0); // reset the time base +} diff --git a/libraries/ESP32Servo/examples/Sweep/Sweep.ino b/libraries/ESP32Servo/examples/Sweep/Sweep.ino new file mode 100644 index 0000000..f1738fb --- /dev/null +++ b/libraries/ESP32Servo/examples/Sweep/Sweep.ino @@ -0,0 +1,82 @@ +/* Sweep + by BARRAGAN <http://barraganstudio.com> + This example code is in the public domain. + + modified 8 Nov 2013 + by Scott Fitzgerald + + modified for the ESP32 on March 2017 + by John Bennett + + see http://www.arduino.cc/en/Tutorial/Sweep for a description of the original code + + * Different servos require different pulse widths to vary servo angle, but the range is + * an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos + * sweep 180 degrees, so the lowest number in the published range for a particular servo + * represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top + * of the range represents 180 degrees. So for example, if the range is 1000us to 2000us, + * 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 1800 + * degrees. + * + * Circuit: (using an ESP32 Thing from Sparkfun) + * Servo motors have three wires: power, ground, and signal. The power wire is typically red, + * the ground wire is typically black or brown, and the signal wire is typically yellow, + * orange or white. Since the ESP32 can supply limited current at only 3.3V, and servos draw + * considerable power, we will connect servo power to the VBat pin of the ESP32 (located + * near the USB connector). THIS IS ONLY APPROPRIATE FOR SMALL SERVOS. + * + * We could also connect servo power to a separate external + * power source (as long as we connect all of the grounds (ESP32, servo, and external power). + * In this example, we just connect ESP32 ground to servo ground. The servo signal pins + * connect to any available GPIO pins on the ESP32 (in this example, we use pin 18. + * + * In this example, we assume a Tower Pro MG995 large servo connected to an external power source. + * The published min and max for this servo is 1000 and 2000, respectively, so the defaults are fine. + * These values actually drive the servos a little past 0 and 180, so + * if you are particular, adjust the min and max values to match your needs. + */ + +#include <ESP32Servo.h> + +Servo myservo; // create servo object to control a servo +// 16 servo objects can be created on the ESP32 + +int pos = 0; // variable to store the servo position +// Recommended PWM GPIO pins on the ESP32 include 2,4,12-19,21-23,25-27,32-33 +// Possible PWM GPIO pins on the ESP32-S2: 0(used by on-board button),1-17,18(used by on-board LED),19-21,26,33-42 +// Possible PWM GPIO pins on the ESP32-S3: 0(used by on-board button),1-21,35-45,47,48(used by on-board LED) +// Possible PWM GPIO pins on the ESP32-C3: 0(used by on-board button),1-7,8(used by on-board LED),9-10,18-21 +#if defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3) +int servoPin = 17; +#elif defined(CONFIG_IDF_TARGET_ESP32C3) +int servoPin = 7; +#else +int servoPin = 18; +#endif + +void setup() { + // Allow allocation of all timers + ESP32PWM::allocateTimer(0); + ESP32PWM::allocateTimer(1); + ESP32PWM::allocateTimer(2); + ESP32PWM::allocateTimer(3); + myservo.setPeriodHertz(50); // standard 50 hz servo + myservo.attach(servoPin, 1000, 2000); // attaches the servo on pin 18 to the servo object + // using default min/max of 1000us and 2000us + // different servos may require different min/max settings + // for an accurate 0 to 180 sweep +} + +void loop() { + + for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees + // in steps of 1 degree + myservo.write(pos); // tell servo to go to position in variable 'pos' + delay(15); // waits 15ms for the servo to reach the position + } + for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees + myservo.write(pos); // tell servo to go to position in variable 'pos' + delay(15); // waits 15ms for the servo to reach the position + } +} + diff --git a/libraries/ESP32Servo/examples/ToneExample/ToneExample.ino b/libraries/ESP32Servo/examples/ToneExample/ToneExample.ino new file mode 100644 index 0000000..958ac03 --- /dev/null +++ b/libraries/ESP32Servo/examples/ToneExample/ToneExample.ino @@ -0,0 +1,25 @@ +/* + + + */ + +#include <ESP32Servo.h> +int pin = 2; +void setup() { + // Allow allocation of all timers + ESP32PWM::allocateTimer(0); + ESP32PWM::allocateTimer(1); + ESP32PWM::allocateTimer(2); + ESP32PWM::allocateTimer(3); + Serial.begin(115200); + +} + +void loop() { + tone(pin, 4186, // C + 500); // half a second + tone(pin, 5274, // E + 500); // half a second + delay(500); + +} diff --git a/libraries/ESP32Servo/examples/analogWriteExample/analogWriteExample.ino b/libraries/ESP32Servo/examples/analogWriteExample/analogWriteExample.ino new file mode 100644 index 0000000..9cb9c7e --- /dev/null +++ b/libraries/ESP32Servo/examples/analogWriteExample/analogWriteExample.ino @@ -0,0 +1,87 @@ +/* + Mega analogWrite() test + + This sketch fades LEDs up and down one at a time on digital pins 2 through 13. + This sketch was written for the Arduino Mega, and will not work on previous boards. + + The circuit: + * LEDs attached from pins 2 through 13 to ground. or for ESP32-S2 pins 1-17,19-21,26,33-42 + + created 8 Feb 2009 + by Tom Igoe + + This example code is in the public domain. + + */ +// These constants won't change. They're used to give names +// to the pins used: +#if defined(ARDUINO_ESP32S2_DEV) || defined(ARDUINO_ESP32S3_DEV) +const int lowestPin = 1; +const int highestPin = 42; +#elif defined(ARDUINO_ESP32C3_DEV) +const int lowestPin = 1; +const int highestPin = 19; +#else +const int lowestPin = 2; +const int highestPin = 33; +#endif +#include <ESP32Servo.h> +Servo myservo; + +void setup() { + Serial.begin(115200); + // Allow allocation of all timers + ESP32PWM::allocateTimer(0); + ESP32PWM::allocateTimer(1); + ESP32PWM::allocateTimer(2); + ESP32PWM::allocateTimer(3); +} + +void loop() { + if (!myservo.attached()) { + myservo.setPeriodHertz(50); // standard 50 hz servo + myservo.attach(33, 1000, 2000); // Attach the servo after it has been detatched + } + myservo.write(0); + // iterate over the pins: + for (int thisPin = lowestPin; thisPin <= highestPin; thisPin++) { + if (ESP32PWM::hasPwm(thisPin) && // Is it possible for this pin to PWM + (ESP32PWM::channelsRemaining() > 0 || // New channels availible to allocate + pwmFactory(thisPin) != NULL || // already allocated this pin in the factory + thisPin == 25 || // one of the 2 DAC outputs, no timer needed + thisPin == 26)) { // one of the 2 DAC outputs, no timer needed + if (pwmFactory(thisPin) == NULL) { // check if its the first time for the pin or its a DAC +#if defined(ARDUINO_ESP32S2_DEV) + if (thisPin == 17 || // one of the 2 DAC outputs, no timer needed + thisPin == 18) +#elif defined(ARDUINO_ESP32C3_DEV) || defined(ARDUINO_ESP32S3_DEV) + if (1 == 0) // no DAC outputs for these chips +#else + if (thisPin == 25 || // one of the 2 DAC outputs, no timer needed + thisPin == 26) +#endif + { + Serial.println("DAC to pin " + String(thisPin)); + } else + Serial.println("Writing to pin " + String(thisPin)); + pinMode(thisPin, OUTPUT); + } + // fade the LED on thisPin from off to brightest: + for (int brightness = 0; brightness < 255; brightness++) { + analogWrite(thisPin, brightness); + delay(1); + myservo.write(brightness); + } + // fade the LED on thisPin from brithstest to off: + for (int brightness = 255; brightness >= 0; brightness--) { + analogWrite(thisPin, brightness); + myservo.write(brightness); + delay(1); + } + + } + } + myservo.detach(); // Turn the servo off for a while + delay(2000); + +} diff --git a/libraries/ESP32Servo/keywords.txt b/libraries/ESP32Servo/keywords.txt new file mode 100644 index 0000000..da07789 --- /dev/null +++ b/libraries/ESP32Servo/keywords.txt @@ -0,0 +1,26 @@ +####################################### +# Syntax Coloring Map ESP32_Servo +####################################### + +####################################### +# Datatypes (KEYWORD1) +####################################### + +Servo KEYWORD1 + +####################################### +# Methods and Functions (KEYWORD2) +####################################### +attach KEYWORD2 +detach KEYWORD2 +write KEYWORD2 +read KEYWORD2 +attached KEYWORD2 +writeMicroseconds KEYWORD2 +readMicroseconds KEYWORD2 +setTimerWidth KEYWORD2 +readTimerWidth KEYWORD2 + +####################################### +# Constants (LITERAL1) +#######################################
\ No newline at end of file diff --git a/libraries/ESP32Servo/library.properties b/libraries/ESP32Servo/library.properties new file mode 100644 index 0000000..2fff972 --- /dev/null +++ b/libraries/ESP32Servo/library.properties @@ -0,0 +1,11 @@ +name=ESP32Servo +version=3.0.7 +author=Kevin Harrington,John K. Bennett +maintainer=Kevin Harrington <mad.hephaestus@gmail.com> +sentence=Allows ESP32 boards to control servo, tone and analogWrite motors using Arduino semantics. +paragraph=This library can control a many types of servos.<br />It makes use of the ESP32 PWM timers: the library can control up to 16 servos on individual channels<br />No attempt has been made to support multiple servos per channel.<br /> +category=Device Control +url=https://madhephaestus.github.io/ESP32Servo/annotated.html +architectures=esp32 +includes=ESP32Servo.h,analogWrite.h,tone.h,ESP32Tone.h,ESP32PWM.h + diff --git a/libraries/ESP32Servo/src/ESP32PWM.cpp b/libraries/ESP32Servo/src/ESP32PWM.cpp new file mode 100644 index 0000000..f0facc9 --- /dev/null +++ b/libraries/ESP32Servo/src/ESP32PWM.cpp @@ -0,0 +1,411 @@ +/* + * ESP32PWM.cpp + * + * Created on: Sep 22, 2018 + * Author: hephaestus + */ + +#include <ESP32PWM.h> +#include "esp32-hal-ledc.h" + +// initialize the class variable ServoCount +int ESP32PWM::PWMCount = -1; // the total number of attached servos +bool ESP32PWM::explicateAllocationMode=false; +ESP32PWM * ESP32PWM::ChannelUsed[NUM_PWM]; // used to track whether a channel is in service +long ESP32PWM::timerFreqSet[4] = { -1, -1, -1, -1 }; +int ESP32PWM::timerCount[4] = { 0, 0, 0, 0 }; + +static const char* TAG = "ESP32PWM"; + +// The ChannelUsed array elements are 0 if never used, 1 if in use, and -1 if used and disposed +// (i.e., available for reuse) +/** + * allocateTimer + * @param a timer number 0-3 indicating which timer to allocate in this library + * Switch to explicate allocation mode + * + */ +void ESP32PWM::allocateTimer(int timerNumber){ + if(timerNumber<0 || timerNumber>3) + return; + if(ESP32PWM::explicateAllocationMode==false){ + ESP32PWM::explicateAllocationMode=true; + for(int i=0;i<4;i++) + ESP32PWM::timerCount[i]=4;// deallocate all timers to start mode + } + ESP32PWM::timerCount[timerNumber]=0; +} + +ESP32PWM::ESP32PWM() { + resolutionBits = 8; + pwmChannel = -1; + pin = -1; + myFreq = -1; + if (PWMCount == -1) { + for (int i = 0; i < NUM_PWM; i++) + ChannelUsed[i] = NULL; // load invalid data into the storage array of pin mapping + PWMCount = PWM_BASE_INDEX; // 0th channel does not work with the PWM system + } +} + +ESP32PWM::~ESP32PWM() { + if (attached()) { +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + ledcDetach(pin); +#else + ledcDetachPin(pin); +#endif +#else + ledcDetachPin(pin); +#endif + } + deallocate(); +} + +double ESP32PWM::_ledcSetupTimerFreq(uint8_t pin, double freq, + uint8_t bit_num) { + +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + return ledcAttach(pin, freq, bit_num); +#else + return ledcSetup(pin, freq, bit_num); +#endif +#else + return ledcSetup(pin, freq, bit_num); +#endif + +} + +int ESP32PWM::timerAndIndexToChannel(int timerNum, int index) { + int localIndex = 0; + for (int j = 0; j < NUM_PWM; j++) { + if (((j / 2) % 4) == timerNum) { + if (localIndex == index) { + return j; + } + localIndex++; + } + } + return -1; +} +int ESP32PWM::allocatenext(double freq) { + long freqlocal = (long) freq; + if (pwmChannel < 0) { + for (int i = 0; i < 4; i++) { + bool freqAllocated = ((timerFreqSet[i] == freqlocal) + || (timerFreqSet[i] == -1)); + if (freqAllocated && timerCount[i] < 4) { + if (timerFreqSet[i] == -1) { + //Serial.println("Starting timer "+String(i)+" at freq "+String(freq)); + timerFreqSet[i] = freqlocal; + } + //Serial.println("Free channel timer "+String(i)+" at freq "+String(freq)+" remaining "+String(4-timerCount[i])); + + timerNum = i; + for (int index=0; index<4; ++index) + { + int myTimerNumber = timerAndIndexToChannel(timerNum,index); + if ((myTimerNumber >= 0) && (!ChannelUsed[myTimerNumber])) + { + pwmChannel = myTimerNumber; +// Serial.println( +// "PWM on ledc channel #" + String(pwmChannel) +// + " using 'timer " + String(timerNum) +// + "' to freq " + String(freq) + "Hz"); + ChannelUsed[pwmChannel] = this; + timerCount[timerNum]++; + PWMCount++; + myFreq = freq; + return pwmChannel; + } + } + } else { +// if(timerFreqSet[i]>0) +// Serial.println("Timer freq mismatch target="+String(freq)+" on timer "+String(i)+" was "+String(timerFreqSet[i])); +// else +// Serial.println("Timer out of channels target="+String(freq)+" on timer "+String(i)+" was "+String(timerCount[i])); + } + } + } else { + return pwmChannel; + } + ESP_LOGE(TAG, + "ERROR All PWM timers allocated! Can't accomodate %.3f Hz\r\nHalting...", freq); + while (1) + ; +} +void ESP32PWM::deallocate() { + if (pwmChannel < 0) + return; + ESP_LOGE(TAG, "PWM deallocating LEDc #%d",pwmChannel); + timerCount[getTimer()]--; + if (timerCount[getTimer()] == 0) { + timerFreqSet[getTimer()] = -1; // last pwn closed out + } + timerNum = -1; + attachedState = false; + ChannelUsed[pwmChannel] = NULL; + pwmChannel = -1; + PWMCount--; + +} + +int ESP32PWM::getChannel() { + if (pwmChannel < 0) { + ESP_LOGE(TAG, "FAIL! must setup() before using get channel!"); + } + return pwmChannel; +} + +double ESP32PWM::setup(double freq, uint8_t resolution_bits) { + checkFrequencyForSideEffects(freq); + + resolutionBits = resolution_bits; + if (attached()) { +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + ledcDetach(pin); + double val = ledcAttach(getPin(), freq, resolution_bits); +#else + ledcDetachPin(pin); + double val = ledcSetup(getChannel(), freq, resolution_bits); +#endif +#else + ledcDetachPin(pin); + double val = ledcSetup(getChannel(), freq, resolution_bits); +#endif + + attachPin(pin); + return val; + } +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + return ledcAttach(getPin(), freq, resolution_bits); +#else + return ledcSetup(getChannel(), freq, resolution_bits); +#endif +#else + return ledcSetup(getChannel(), freq, resolution_bits); +#endif +} +double ESP32PWM::getDutyScaled() { + return mapf((double) myDuty, 0, (double) ((1 << resolutionBits) - 1), 0.0, + 1.0); +} +void ESP32PWM::writeScaled(double duty) { + write(mapf(duty, 0.0, 1.0, 0, (double) ((1 << resolutionBits) - 1))); +} +void ESP32PWM::write(uint32_t duty) { + myDuty = duty; +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + ledcWrite(getPin(), duty); +#else + ledcWrite(getChannel(), duty); +#endif +#else + ledcWrite(getChannel(), duty); +#endif +} +void ESP32PWM::adjustFrequencyLocal(double freq, double dutyScaled) { + timerFreqSet[getTimer()] = (long) freq; + myFreq = freq; + if (attached()) { +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + ledcDetach(pin); + // Remove the PWM during frequency adjust + _ledcSetupTimerFreq(getPin(), freq, resolutionBits); + writeScaled(dutyScaled); + ledcAttach(getPin(), freq, resolutionBits); // re-attach the pin after frequency adjust +#else + ledcDetachPin(pin); + // Remove the PWM during frequency adjust + _ledcSetupTimerFreq(getChannel(), freq, resolutionBits); + writeScaled(dutyScaled); + ledcAttachPin(pin, getChannel()); // re-attach the pin after frequency adjust +#endif +#else + ledcDetachPin(pin); + // Remove the PWM during frequency adjust + _ledcSetupTimerFreq(getChannel(), freq, resolutionBits); + writeScaled(dutyScaled); + ledcAttachPin(pin, getChannel()); // re-attach the pin after frequency adjust +#endif + + } else { + _ledcSetupTimerFreq(getPin(), freq, resolutionBits); + writeScaled(dutyScaled); + } +} +void ESP32PWM::adjustFrequency(double freq, double dutyScaled) { + if(dutyScaled<0) + dutyScaled=getDutyScaled(); + writeScaled(dutyScaled); + for (int i = 0; i < timerCount[getTimer()]; i++) { + int pwm = timerAndIndexToChannel(getTimer(), i); + if (ChannelUsed[pwm] != NULL) { + if (ChannelUsed[pwm]->myFreq != freq) { + ChannelUsed[pwm]->adjustFrequencyLocal(freq, + ChannelUsed[pwm]->getDutyScaled()); + } + } + } +} +double ESP32PWM::writeTone(double freq) { + for (int i = 0; i < timerCount[getTimer()]; i++) { + int pwm = timerAndIndexToChannel(getTimer(), i); + if (ChannelUsed[pwm] != NULL) { + if (ChannelUsed[pwm]->myFreq != freq) { + ChannelUsed[pwm]->adjustFrequencyLocal(freq, + ChannelUsed[pwm]->getDutyScaled()); + } + write(1 << (resolutionBits-1)); // writeScaled(0.5); + } + } + + return 0; +} +double ESP32PWM::writeNote(note_t note, uint8_t octave) { + const uint16_t noteFrequencyBase[12] = { + // C C# D Eb E F F# G G# A Bb B + 4186, 4435, 4699, 4978, 5274, 5588, 5920, 6272, 6645, 7040, 7459, + 7902 }; + + if (octave > 8 || note >= NOTE_MAX) { + return 0; + } + double noteFreq = (double) noteFrequencyBase[note] + / (double) (1 << (8 - octave)); + return writeTone(noteFreq); +} +uint32_t ESP32PWM::read() { +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + return ledcRead(getPin()); +#else + return ledcRead(getChannel()); +#endif +#else + return ledcRead(getChannel()); +#endif + +} +double ESP32PWM::readFreq() { + return myFreq; +} +void ESP32PWM::attach(int p) { + pin = p; + attachedState = true; +} +void ESP32PWM::attachPin(uint8_t pin) { + + if (hasPwm(pin)) { + attach(pin); + bool success=true; +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + success=ledcAttach(pin, readFreq(), resolutionBits); +#else + ledcAttachPin(pin, getChannel()); +#endif +#else + ledcAttachPin(pin, getChannel()); +#endif + if(success) + return; + ESP_LOGE(TAG, "ERROR PWM channel failed to configure on pin %d!", pin); + return; + } + +#if defined(CONFIG_IDF_TARGET_ESP32S2) + ESP_LOGE(TAG, "ERROR PWM channel unavailable on pin requested! %d PWM available on: 1-21,26,33-42",pin); +#elif defined(CONFIG_IDF_TARGET_ESP32S3) + ESP_LOGE(TAG, "ERROR PWM channel unavailable on pin requested! %d PWM available on: 1-21,35-45,47-48",pin); +#elif defined(CONFIG_IDF_TARGET_ESP32C3) + ESP_LOGE(TAG, "ERROR PWM channel unavailable on pin requested! %d PWM available on: 1-10,18-21",pin); +#else + ESP_LOGE(TAG, "ERROR PWM channel unavailable on pin requested! %d PWM available on: 2,4,5,12-19,21-23,25-27,32-33",pin); +#endif + +} +void ESP32PWM::attachPin(uint8_t pin, double freq, uint8_t resolution_bits) { + + if (hasPwm(pin)){ + int ret=setup(freq, resolution_bits); + ESP_LOGW(TAG, "Pin Setup %d with code %d",pin,ret); + } + else + ESP_LOGE(TAG, "ERROR Pin Failed %d ",pin); + attachPin(pin); +} +void ESP32PWM::detachPin(int pin) { +#ifdef ESP_ARDUINO_VERSION_MAJOR +#if ESP_ARDUINO_VERSION >= ESP_ARDUINO_VERSION_VAL(3, 0, 0) + + ledcDetach(pin); +#else + ledcDetachPin(pin); +#endif +#else + ledcDetachPin(pin); +#endif + deallocate(); +} +/* Side effects of frequency changes happen because of shared timers + * + * LEDC Chan to Group/Channel/Timer Mapping + ** ledc: 0 => Group: 0, Channel: 0, Timer: 0 + ** ledc: 1 => Group: 0, Channel: 1, Timer: 0 + ** ledc: 2 => Group: 0, Channel: 2, Timer: 1 + ** ledc: 3 => Group: 0, Channel: 3, Timer: 1 + ** ledc: 4 => Group: 0, Channel: 4, Timer: 2 + ** ledc: 5 => Group: 0, Channel: 5, Timer: 2 + ** ledc: 6 => Group: 0, Channel: 6, Timer: 3 + ** ledc: 7 => Group: 0, Channel: 7, Timer: 3 + ** ledc: 8 => Group: 1, Channel: 0, Timer: 0 + ** ledc: 9 => Group: 1, Channel: 1, Timer: 0 + ** ledc: 10 => Group: 1, Channel: 2, Timer: 1 + ** ledc: 11 => Group: 1, Channel: 3, Timer: 1 + ** ledc: 12 => Group: 1, Channel: 4, Timer: 2 + ** ledc: 13 => Group: 1, Channel: 5, Timer: 2 + ** ledc: 14 => Group: 1, Channel: 6, Timer: 3 + ** ledc: 15 => Group: 1, Channel: 7, Timer: 3 + */ + +bool ESP32PWM::checkFrequencyForSideEffects(double freq) { + + allocatenext(freq); + for (int i = 0; i < timerCount[getTimer()]; i++) { + int pwm = timerAndIndexToChannel(getTimer(), i); + + if (pwm == pwmChannel) + continue; + if (ChannelUsed[pwm] != NULL) + if (ChannelUsed[pwm]->getTimer() == getTimer()) { + double diff = abs(ChannelUsed[pwm]->myFreq - freq); + if (abs(diff) > 0.1) { + ESP_LOGW(TAG, + "\tWARNING PWM channel %d \ + shares a timer with channel %d\n \ + \tchanging the frequency to %.3f \ + Hz will ALSO change channel %d \ + \n\tfrom its previous frequency of %.3f Hz\n " + ,pwmChannel, pwm, freq, pwm, ChannelUsed[pwm]->myFreq); + ChannelUsed[pwm]->myFreq = freq; + } + } + } + return true; +} + +ESP32PWM* pwmFactory(int pin) { + for (int i = 0; i < NUM_PWM; i++) + if (ESP32PWM::ChannelUsed[i] != NULL) { + if (ESP32PWM::ChannelUsed[i]->getPin() == pin) + return ESP32PWM::ChannelUsed[i]; + } + return NULL; +} diff --git a/libraries/ESP32Servo/src/ESP32PWM.h b/libraries/ESP32Servo/src/ESP32PWM.h new file mode 100644 index 0000000..581a244 --- /dev/null +++ b/libraries/ESP32Servo/src/ESP32PWM.h @@ -0,0 +1,150 @@ +/* + * ESP32PWM.h + * + * Created on: Sep 22, 2018 + * Author: hephaestus + */ + +#ifndef LIBRARIES_ESP32SERVO_SRC_ESP32PWM_H_ +#define LIBRARIES_ESP32SERVO_SRC_ESP32PWM_H_ +#include "esp32-hal-ledc.h" +#if defined(ARDUINO) + #include "Arduino.h" +#endif + +#if defined(CONFIG_IDF_TARGET_ESP32C3) +#define NUM_PWM 6 +#elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3) +#define NUM_PWM 8 +#else +#define NUM_PWM 16 +#endif + +#define PWM_BASE_INDEX 0 +#define USABLE_ESP32_PWM (NUM_PWM-PWM_BASE_INDEX) +#include <cstdint> + +class ESP32PWM { +private: + + void attach(int pin); + int pwmChannel = 0; // channel number for this servo + bool attachedState = false; + int pin; + uint8_t resolutionBits; + double myFreq; + int allocatenext(double freq); + + static double _ledcSetupTimerFreq(uint8_t pin, double freq, + uint8_t bit_num); + + bool checkFrequencyForSideEffects(double freq); + + void adjustFrequencyLocal(double freq, double dutyScaled); + static double mapf(double x, double in_min, double in_max, double out_min, + double out_max) { + if(x>in_max) + return out_max; + if(x<in_min) + return out_min; + return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; + } + + double setup(double freq, uint8_t resolution_bits=10); + //channel 0-15 resolution 1-16bits freq limits depend on resolution9 + void attachPin(uint8_t pin); + // pin allocation + void deallocate(); +public: + // setup + ESP32PWM(); + virtual ~ESP32PWM(); + + + void detachPin(int pin); + void attachPin(uint8_t pin, double freq, uint8_t resolution_bits=10); + bool attached() { + return attachedState; + } + + // write raw duty cycle + void write(uint32_t duty); + // Write a duty cycle to the PWM using a unit vector from 0.0-1.0 + void writeScaled(double duty); + //Adjust frequency + double writeTone(double freq); + double writeNote(note_t note, uint8_t octave); + void adjustFrequency(double freq, double dutyScaled=-1); + + // Read pwm data + uint32_t read(); + double readFreq(); + double getDutyScaled(); + + //Timer data + static int timerAndIndexToChannel(int timer, int index); + /** + * allocateTimer + * @param a timer number 0-3 indicating which timer to allocate in this library + * Switch to explicate allocation mode + * + */ + static void allocateTimer(int timerNumber); + static bool explicateAllocationMode; + int getTimer() { + return timerNum; + } + int timerNum = -1; + uint32_t myDuty = 0; + int getChannel(); + static int PWMCount; // the total number of attached pwm + static int timerCount[4]; + static ESP32PWM * ChannelUsed[NUM_PWM]; // used to track whether a channel is in service + static long timerFreqSet[4]; + + // Helper functions + int getPin() { + return pin; + } + static bool hasPwm(int pin) { +#if defined(CONFIG_IDF_TARGET_ESP32S2) + if ((pin >=1 && pin <= 21) || //21 + (pin == 26) || //1 + (pin >= 33 && pin <= 42)) //10 +#elif defined(CONFIG_IDF_TARGET_ESP32S3) + if ((pin >=1 && pin <= 21) || //20 + (pin >= 35 && pin <= 45) || //11 + (pin == 47) || (pin == 48)) //2 +#elif defined(CONFIG_IDF_TARGET_ESP32C3) + if ((pin >=0 && pin <= 10) || //11 + (pin >= 18 && pin <= 21)) //4 +#elif defined(CONFIG_IDF_TARGET_ESP32C6) + if ((pin >=0 && pin <= 9) || //10 + (pin >= 12 && pin <= 23)) //12 +#elif defined(CONFIG_IDF_TARGET_ESP32H2) + if ((pin >=0 && pin <= 5) || //6 + (pin >= 8 && pin <= 14) || //7 + (pin >= 22 && pin <= 27)) //6 +#else + if ((pin == 2) || //1 + (pin == 4) || //1 + (pin == 5) || //1 + ((pin >= 12) && (pin <= 19)) || //8 + ((pin >= 21) && (pin <= 23)) || //3 + ((pin >= 25) && (pin <= 27)) || //3 + (pin == 32) || (pin == 33)) //2 +#endif + return true; + return false; + } + static int channelsRemaining() { + return NUM_PWM - PWMCount; + } + static boolean DISABLE_DAC; + + +}; + +ESP32PWM* pwmFactory(int pin); + +#endif /* LIBRARIES_ESP32SERVO_SRC_ESP32PWM_H_ */ diff --git a/libraries/ESP32Servo/src/ESP32Servo.cpp b/libraries/ESP32Servo/src/ESP32Servo.cpp new file mode 100644 index 0000000..277be6a --- /dev/null +++ b/libraries/ESP32Servo/src/ESP32Servo.cpp @@ -0,0 +1,270 @@ +/* +Copyright (c) 2017 John K. Bennett. All right reserved. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +* Notes on the implementation: +* The ESP32 supports 16 hardware LED PWM channels that are intended +* to be used for LED brightness control. The low level ESP32 code +* (esp32-hal-ledc.*) allows us to set the PWM frequency and bit-depth, +* and then manipulate them by setting bits in the relevant control +* registers. +* +* Different servos require different pulse widths to vary servo angle, but the range is +* an approximately 500-2500 microsecond pulse every 20ms (50Hz). In general, hobbyist servos +* sweep 180 degrees, so the lowest number in the published range for a particular servo +* represents an angle of 0 degrees, the middle of the range represents 90 degrees, and the top +* of the range represents 180 degrees. So for example, if the range is 1000us to 2000us, +* 1000us would equal an angle of 0, 1500us would equal 90 degrees, and 2000us would equal 180 +* degrees. We vary pulse width (recall that the pulse period is already set to 20ms) as follows: +* +* The ESP32 PWM timers allow us to set the timer width (max 20 bits). Thus +* the timer "tick" length is (pulse_period/2**timer_width), and the equation for pulse_high_width +* (the portion of the 20ms cycle that the signal is high) becomes: +* +* pulse_high_width = count * tick_length +* = count * (pulse_period/2**timer_width) +* +* and count = (pulse_high_width / (pulse_period/2**timer_width)) +* +* So, for example, if I want a 1500us pulse_high_width, I set pulse_period to 20ms (20000us) +* (this value is set in the ledcSetup call), and count (used in the ledcWrite call) to +* 1500/(20000/65536), or 4924. This is the value we write to the timer in the ledcWrite call. +* If we increase the timer_width, the timer_count values need to be adjusted. +* +* The servo signal pins connect to any available GPIO pins on the ESP32, but not all pins are +* GPIO pins. +* +* The ESP32 is a 32 bit processor that includes FP support; this code reflects that fact. +*/ + +#include <ESP32Servo.h> +#if defined(ARDUINO) + #include "Arduino.h" +#endif + +static const char* TAG = "ESP32Servo"; + +Servo::Servo() +{ // initialize this channel with plausible values, except pin # (we set pin # when attached) + REFRESH_CPS = 50; + this->ticks = DEFAULT_PULSE_WIDTH_TICKS; + this->timer_width = DEFAULT_TIMER_WIDTH; + this->pinNumber = -1; // make it clear that we haven't attached a pin to this channel + this->min = DEFAULT_uS_LOW; + this->max = DEFAULT_uS_HIGH; + this->timer_width_ticks = pow(2,this->timer_width); + +} +ESP32PWM * Servo::getPwm(){ + + return &pwm; +} + +int Servo::attach(int pin) +{ + + return (this->attach(pin, DEFAULT_uS_LOW, DEFAULT_uS_HIGH)); +} + +int Servo::attach(int pin, int min, int max) +{ + ESP_LOGW(TAG, "Attempting to Attach servo on pin=%d min=%d max=%d",pin,min,max); + +#ifdef ENFORCE_PINS + // ESP32 Recommend only the following pins 2,4,12-19,21-23,25-27,32-33 + // ESP32-S2 only the following pins 1-21,26,33-42 + if (pwm.hasPwm(pin)) + { +#endif + + // OK to proceed; first check for new/reuse + if (this->pinNumber < 0) // we are attaching to a new or previously detached pin; we need to initialize/reinitialize + { + this->ticks = DEFAULT_PULSE_WIDTH_TICKS; + this->timer_width = DEFAULT_TIMER_WIDTH; + this->timer_width_ticks = pow(2,this->timer_width); + } + this->pinNumber = pin; +#ifdef ENFORCE_PINS + } + else + { +#ifdef __XTENSA_esp32s3__ +if( +#endif + +#if defined(CONFIG_IDF_TARGET_ESP32S2) + ESP_LOGE(TAG, "This pin can not be a servo: %d Servo available on: 1-21,26,33-42", pin); +#elif defined(CONFIG_IDF_TARGET_ESP32S3) + ESP_LOGE(TAG, "This pin can not be a servo: %d Servo available on: 1-21,35-45,47-48", pin); +#elif defined(CONFIG_IDF_TARGET_ESP32C3) + ESP_LOGE(TAG, "This pin can not be a servo: %d Servo available on: 1-10,18-21", pin); +#else + ESP_LOGE(TAG, "This pin can not be a servo: %d Servo available on: 2,4,5,12-19,21-23,25-27,32-33",pin); +#endif + return 0; + } +#endif + + + // min/max checks + if (min < MIN_PULSE_WIDTH) // ensure pulse width is valid + min = MIN_PULSE_WIDTH; + if (max > MAX_PULSE_WIDTH) + max = MAX_PULSE_WIDTH; + this->min = min; //store this value in uS + this->max = max; //store this value in uS + // Set up this channel + // if you want anything other than default timer width, you must call setTimerWidth() before attach + + pwm.attachPin(this->pinNumber,REFRESH_CPS, this->timer_width ); // GPIO pin assigned to channel + ESP_LOGW(TAG, "Success to Attach servo : %d on PWM %d",pin,pwm.getChannel()); + + return pwm.getChannel(); +} + +void Servo::detach() +{ + if (this->attached()) + { + //keep track of detached servos channels so we can reuse them if needed + pwm.detachPin(this->pinNumber); + + this->pinNumber = -1; + } +} + +void Servo::write(int value) +{ + // treat values less than MIN_PULSE_WIDTH (500) as angles in degrees (valid values in microseconds are handled as microseconds) + if (value < MIN_PULSE_WIDTH) + { + if (value < 0) + value = 0; + else if (value > 180) + value = 180; + + value = map(value, 0, 180, this->min, this->max); + } + this->writeMicroseconds(value); +} + +void Servo::writeMicroseconds(int value) +{ + writeTicks(usToTicks(value)); // convert to ticks +} + +void Servo::writeTicks(int value) +{ + // calculate and store the values for the given channel + if (this->attached()) // ensure channel is valid + { + if (value < usToTicks(this->min)) // ensure ticks are in range + value = usToTicks(this->min); + else if (value > usToTicks(this->max)) + value = usToTicks(this->max); + this->ticks = value; + // do the actual write + pwm.write( this->ticks); + } +} + +void Servo::release() +{ + if (this->attached()) // ensure channel is valid + pwm.write(0); +} + +int Servo::read() // return the value as degrees +{ + return (map(readMicroseconds(), this->min, this->max, 0, 180)); +} + +int Servo::readMicroseconds() +{ + int pulsewidthUsec; + if (this->attached()) + { + pulsewidthUsec = ticksToUs(this->ticks); + } + else + { + pulsewidthUsec = 0; + } + + return (pulsewidthUsec); +} + +int Servo::readTicks() +{ + return this->ticks; +} + +bool Servo::attached() +{ + return (pwm.attached()); +} + +void Servo::setTimerWidth(int value) +{ + // only allow values between 10 and 14 for ESP32-C3 + // only allow values between 16 and 20 for other ESP32 + if (value < MINIMUM_TIMER_WIDTH ) + value = MINIMUM_TIMER_WIDTH; + else if (value > MAXIMUM_TIMER_WIDTH) + value = MAXIMUM_TIMER_WIDTH; + + // Fix the current ticks value after timer width change + // The user can reset the tick value with a write() or writeUs() + int widthDifference = this->timer_width - value; + // if positive multiply by diff; if neg, divide + if (widthDifference > 0) + { + this->ticks = widthDifference * this->ticks; + } + else if (widthDifference < 0) + { + this->ticks = this->ticks/-widthDifference; + } + + this->timer_width = value; + this->timer_width_ticks = pow(2,this->timer_width); + + // If this is an attached servo, clean up + if (this->attached()) + { + // detach, setup and attach again to reflect new timer width + pwm.detachPin(this->pinNumber); + pwm.attachPin(this->pinNumber, REFRESH_CPS, this->timer_width); + } +} + +int Servo::readTimerWidth() +{ + return (this->timer_width); +} + +int Servo::usToTicks(int usec) +{ + return (int)((double)usec / ((double)REFRESH_USEC / (double)this->timer_width_ticks)*(((double)REFRESH_CPS)/50.0)); +} + +int Servo::ticksToUs(int ticks) +{ + return (int)((double)ticks * ((double)REFRESH_USEC / (double)this->timer_width_ticks)/(((double)REFRESH_CPS)/50.0)); +} + + diff --git a/libraries/ESP32Servo/src/ESP32Servo.h b/libraries/ESP32Servo/src/ESP32Servo.h new file mode 100644 index 0000000..ed5f852 --- /dev/null +++ b/libraries/ESP32Servo/src/ESP32Servo.h @@ -0,0 +1,171 @@ +/* + Copyright (c) 2017 John K. Bennett. All right reserved. + + ESP32_Servo.h - Servo library for ESP32 - Version 1 + + Original Servo.h written by Michael Margolis in 2009 + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + */ + +/* + A servo is activated by creating an instance of the Servo class, and passing + the desired GPIO pin to the attach() method. + The servos are pulsed in the background using the value most recently + written using the write() method. + + The class methods are: + + Servo - Class for manipulating servo motors connected to ESP32 pins. + int attach(pin ) - Attaches the given GPIO pin to the next free channel + (channels that have previously been detached are used first), + returns channel number or 0 if failure. All pin numbers are allowed, + but only pins 2,4,12-19,21-23,25-27,32-33 are recommended. + int attach(pin, min, max ) - Attaches to a pin setting min and max + values in microseconds; enforced minimum min is 500, enforced max + is 2500. Other semantics same as attach(). + void write () - Sets the servo angle in degrees; a value below 500 is + treated as a value in degrees (0 to 180). These limit are enforced, + i.e., values are treated as follows: + Value Becomes + ----- ------- + < 0 0 + 0 - 180 value (treated as degrees) + 181 - 499 180 + 500 - (min-1) min + min-max (from attach or default) value (treated as microseconds) + (max+1) - 2500 max + + void writeMicroseconds() - Sets the servo pulse width in microseconds. + min and max are enforced (see above). + int read() - Gets the last written servo pulse width as an angle between 0 and 180. + int readMicroseconds() - Gets the last written servo pulse width in microseconds. + bool attached() - Returns true if this servo instance is attached. + void detach() - Stops an the attached servo, frees its attached pin, and frees + its channel for reuse). + + *** ESP32-specific functions ** + setTimerWidth(value) - Sets the PWM timer width (must be 16-20) (ESP32 ONLY); + as a side effect, the pulse width is recomputed. + int readTimerWidth() - Gets the PWM timer width (ESP32 ONLY) + */ + +#ifndef ESP32_Servo_h +#define ESP32_Servo_h +//#include "analogWrite.h" +#include "ESP32PWM.h" +//#include "ESP32Tone.h" +//Enforce only using PWM pins on the ESP32 +#define ENFORCE_PINS +// Default Arduino Servo.h +#define DEFAULT_uS_LOW 544 +#define DEFAULT_uS_HIGH 2400 + +// Values for TowerPro MG995 large servos (and many other hobbyist servos) +//#define DEFAULT_uS_LOW 1000 // 1000us +//#define DEFAULT_uS_HIGH 2000 // 2000us + +// Values for TowerPro SG90 small servos +//#define DEFAULT_uS_LOW 400 +//#define DEFAULT_uS_HIGH 2400 + +#ifdef ARDUINO_ESP32C3_DEV +#define MINIMUM_TIMER_WIDTH 10 +#define MAXIMUM_TIMER_WIDTH 14 +#define DEFAULT_TIMER_WIDTH 10 +#else +#define MINIMUM_TIMER_WIDTH 10 +#define MAXIMUM_TIMER_WIDTH 20 +#define DEFAULT_TIMER_WIDTH 10 +#endif +#define DEFAULT_TIMER_WIDTH_TICKS 1024 + +#define ESP32_Servo_VERSION 1 // software version of this library + +#define MIN_PULSE_WIDTH 500 // the shortest pulse sent to a servo +#define MAX_PULSE_WIDTH 2500 // the longest pulse sent to a servo +#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached +#define DEFAULT_PULSE_WIDTH_TICKS 4825 +//#define REFRESH_CPS 50 +#define REFRESH_USEC 20000 + +#define MAX_SERVOS 16 // no. of PWM channels in ESP32 + +/* + * This group/channel/timmer mapping is for information only; + * the details are handled by lower-level code + * + * LEDC Chan to Group/Channel/Timer Mapping + ** ledc: 0 => Group: 0, Channel: 0, Timer: 0 + ** ledc: 1 => Group: 0, Channel: 1, Timer: 0 + ** ledc: 2 => Group: 0, Channel: 2, Timer: 1 + ** ledc: 3 => Group: 0, Channel: 3, Timer: 1 + ** ledc: 4 => Group: 0, Channel: 4, Timer: 2 + ** ledc: 5 => Group: 0, Channel: 5, Timer: 2 + ** ledc: 6 => Group: 0, Channel: 6, Timer: 3 + ** ledc: 7 => Group: 0, Channel: 7, Timer: 3 + ** ledc: 8 => Group: 1, Channel: 0, Timer: 0 + ** ledc: 9 => Group: 1, Channel: 1, Timer: 0 + ** ledc: 10 => Group: 1, Channel: 2, Timer: 1 + ** ledc: 11 => Group: 1, Channel: 3, Timer: 1 + ** ledc: 12 => Group: 1, Channel: 4, Timer: 2 + ** ledc: 13 => Group: 1, Channel: 5, Timer: 2 + ** ledc: 14 => Group: 1, Channel: 6, Timer: 3 + ** ledc: 15 => Group: 1, Channel: 7, Timer: 3 + */ + +class Servo { + +public: + Servo(); + // Arduino Servo Library calls + int attach(int pin); // attach the given pin to the next free channel, returns channel number or 0 if failure + int attach(int pin, int min, int max); // as above but also sets min and max values for writes. + void detach(); + void write(int value); // if value is < MIN_PULSE_WIDTH its treated as an angle, otherwise as pulse width in microseconds + void writeMicroseconds(int value); // Write pulse width in microseconds + void writeTicks(int value); // Write ticks, the smallest increment the servo can handle + void release(); + int read(); // returns current pulse width as an angle between 0 and 180 degrees + int readMicroseconds(); // returns current pulse width in microseconds for this servo + int readTicks(); // returns current ticks, the smallest increment the servo can handle + bool attached(); // return true if this servo is attached, otherwise false + + // ESP32 only functions + void setTimerWidth(int value); // set the PWM timer width (ESP32 ONLY) + int readTimerWidth(); // get the PWM timer width (ESP32 ONLY) + void setPeriodHertz(int hertz){ + REFRESH_CPS=hertz; + setTimerWidth(this->timer_width); + } +private: + int usToTicks(int usec); + int ticksToUs(int ticks); +// static int ServoCount; // the total number of attached servos +// static int ChannelUsed[]; // used to track whether a channel is in service +// int servoChannel = 0; // channel number for this servo + + int min = DEFAULT_uS_LOW; // minimum pulse width for this servo + int max = DEFAULT_uS_HIGH; // maximum pulse width for this servo + int pinNumber = 0; // GPIO pin assigned to this channel + int timer_width = DEFAULT_TIMER_WIDTH; // ESP32 allows variable width PWM timers + int ticks = DEFAULT_PULSE_WIDTH_TICKS; // current pulse width on this channel + int timer_width_ticks = DEFAULT_TIMER_WIDTH_TICKS; // no. of ticks at rollover; varies with width + ESP32PWM * getPwm(); // get the PWM object + ESP32PWM pwm; + int REFRESH_CPS = 50; + +}; +#endif |