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Merge pull request #2470 from thinkyhead/patch_servo_move

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Patch servos code for move
This commit is contained in:
Scott Lahteine 2015-07-19 12:10:10 -07:00
commit 9d1d590f43
4 changed files with 40 additions and 33 deletions
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2
Marlin/Conditionals.h
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@ -279,6 +279,8 @@
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER)) #define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#endif #endif
#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && defined(DEACTIVATE_SERVOS_AFTER_MOVE))
/** /**
* Sled Options * Sled Options
*/ */

2
Marlin/Marlin_main.cpp
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@ -36,8 +36,6 @@
#endif #endif
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING
#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && defined(DEACTIVATE_SERVOS_AFTER_MOVE))
#ifdef MESH_BED_LEVELING #ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h" #include "mesh_bed_leveling.h"
#endif #endif

61
Marlin/servo.cpp
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@ -35,7 +35,7 @@
write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds) write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
writeMicroseconds() - Sets the servo pulse width in microseconds writeMicroseconds() - Sets the servo pulse width in microseconds
move(pin, angel) - Sequence of attach(pin), write(angel). move(pin, angle) - Sequence of attach(pin), write(angle).
With DEACTIVATE_SERVOS_AFTER_MOVE it waits SERVO_DEACTIVATION_DELAY and detaches. With DEACTIVATE_SERVOS_AFTER_MOVE it waits SERVO_DEACTIVATION_DELAY and detaches.
read() - Gets the last written servo pulse width as an angle between 0 and 180. read() - Gets the last written servo pulse width as an angle between 0 and 180.
readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release) readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
@ -59,7 +59,7 @@
//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER) //#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
static servo_t servos[MAX_SERVOS]; // static array of servo structures static ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
uint8_t ServoCount = 0; // the total number of attached servos uint8_t ServoCount = 0; // the total number of attached servos
@ -69,7 +69,7 @@ uint8_t ServoCount = 0; // the total number
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo #define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer #define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel #define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel
#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel #define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo #define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo #define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
@ -232,34 +232,37 @@ static boolean isTimerActive(timer16_Sequence_t timer) {
Servo::Servo() { Servo::Servo() {
if ( ServoCount < MAX_SERVOS) { if ( ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance this->servoIndex = ServoCount++; // assign a servo index to this instance
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009 servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
} }
else else
this->servoIndex = INVALID_SERVO; // too many servos this->servoIndex = INVALID_SERVO; // too many servos
} }
uint8_t Servo::attach(int pin) { int8_t Servo::attach(int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
} }
uint8_t Servo::attach(int pin, int min, int max) { int8_t Servo::attach(int pin, int min, int max) {
if (this->servoIndex < MAX_SERVOS ) {
if(pin > 0) if (this->servoIndex >= MAX_SERVOS) return -1;
servos[this->servoIndex].Pin.nbr = pin;
pinMode(servos[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin;
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128 pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
this->max = (MAX_PULSE_WIDTH - max) / 4; // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
// initialize the timer if it has not already been initialized this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); this->max = (MAX_PULSE_WIDTH - max) / 4;
if (!isTimerActive(timer)) initISR(timer);
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive // initialize the timer if it has not already been initialized
} timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) initISR(timer);
servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
return this->servoIndex; return this->servoIndex;
} }
void Servo::detach() { void Servo::detach() {
servos[this->servoIndex].Pin.isActive = false; servo_info[this->servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) finISR(timer); if (!isTimerActive(timer)) finISR(timer);
} }
@ -287,7 +290,7 @@ void Servo::writeMicroseconds(int value) {
uint8_t oldSREG = SREG; uint8_t oldSREG = SREG;
cli(); cli();
servos[channel].ticks = value; servo_info[channel].ticks = value;
SREG = oldSREG; SREG = oldSREG;
} }
} }
@ -296,17 +299,21 @@ void Servo::writeMicroseconds(int value) {
int Servo::read() { return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180); } int Servo::read() { return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::readMicroseconds() { int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION; return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;
} }
bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; } bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
uint8_t Servo::move(int pin, int value) { int8_t Servo::move(int pin, int value) {
uint8_t ret; int8_t ret;
ret = this->attach(pin); #if SERVO_LEVELING
if (ret) { ret = this->attach(pin);
#else
ret = this->servoIndex;
#endif
if (ret >= 0) {
this->write(value); this->write(value);
#ifdef DEACTIVATE_SERVOS_AFTER_MOVE && (SERVO_DEACTIVATION_DELAY > 0) #if SERVO_LEVELING
delay(SERVO_DEACTIVATION_DELAY); delay(SERVO_DEACTIVATION_DELAY);
this->detach(); this->detach();
#endif #endif

8
Marlin/servo.h
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@ -112,17 +112,17 @@ typedef struct {
typedef struct { typedef struct {
ServoPin_t Pin; ServoPin_t Pin;
unsigned int ticks; unsigned int ticks;
} servo_t; } ServoInfo_t;
class Servo { class Servo {
public: public:
Servo(); Servo();
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. int8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
void detach(); void detach();
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // Write pulse width in microseconds void writeMicroseconds(int value); // Write pulse width in microseconds
uint8_t move(int pin, int value); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure. int8_t move(int pin, int value); // attach the given pin to the next free channel, set pinMode, return channel number (-1 if attach fails)
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds. // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds.
// if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches. // if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
int read(); // returns current pulse width as an angle between 0 and 180 degrees int read(); // returns current pulse width as an angle between 0 and 180 degrees