2019-05-26 01:12:24 +02:00
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/**
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* Marlin 3D Printer Firmware
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2019-06-28 06:57:50 +02:00
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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2019-05-26 01:12:24 +02:00
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*
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* Based on Sprinter and grbl.
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2019-06-28 06:57:50 +02:00
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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2019-05-26 01:12:24 +02:00
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#ifdef ARDUINO_ARCH_ESP32
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#include "../../inc/MarlinConfig.h"
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#if HAS_SERVOS
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#include "HAL_Servo_ESP32.h"
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2019-06-11 06:22:19 +02:00
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// Adjacent channels (0/1, 2/3 etc.) share the same timer and therefore the same frequency and resolution settings on ESP32,
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// so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
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int Servo::channel_next_free = 12;
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2019-05-26 01:12:24 +02:00
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Servo::Servo() {
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this->channel = channel_next_free++;
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}
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int8_t Servo::attach(const int pin) {
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if (this->channel >= CHANNEL_MAX_NUM) return -1;
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if (pin > 0) this->pin = pin;
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ledcSetup(this->channel, 50, 16); // channel X, 50 Hz, 16-bit depth
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ledcAttachPin(this->pin, this->channel);
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return true;
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}
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2019-06-11 06:22:19 +02:00
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void Servo::detach() { ledcDetachPin(this->pin); }
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2019-05-26 01:12:24 +02:00
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int Servo::read() { return this->degrees; }
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void Servo::write(int degrees) {
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this->degrees = constrain(degrees, MIN_ANGLE, MAX_ANGLE);
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int us = map(this->degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
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ledcWrite(channel, duty);
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}
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void Servo::move(const int value) {
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constexpr uint16_t servo_delay[] = SERVO_DELAY;
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static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
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if (this->attach(0) >= 0) {
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this->write(value);
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safe_delay(servo_delay[this->channel]);
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#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
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this->detach();
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#endif
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}
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}
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#endif // HAS_SERVOS
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#endif // ARDUINO_ARCH_ESP32
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