220 lines
8.0 KiB
C++
220 lines
8.0 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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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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/**
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* servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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* Copyright (c) 2009 Michael Margolis. All right reserved.
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*/
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/**
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* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
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* The servos are pulsed in the background using the value most recently written using the write() method
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*
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* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
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* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
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*
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* The methods are:
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*
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* Servo - Class for manipulating servo motors connected to Arduino pins.
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*
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* attach(pin) - Attach a servo motor to an i/o pin.
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* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
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* Default min is 544, max is 2400
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*
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* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
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* writeMicroseconds() - Set the servo pulse width in microseconds.
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* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
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* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
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* read() - Get the last-written servo pulse width as an angle between 0 and 180.
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* readMicroseconds() - Get the last-written servo pulse width in microseconds.
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* attached() - Return true if a servo is attached.
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* detach() - Stop an attached servo from pulsing its i/o pin.
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*
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*/
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#ifdef ARDUINO_ARCH_AVR
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#include "../../../MarlinConfig.h"
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#if HAS_SERVOS
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#include <avr/interrupt.h>
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#include <Arduino.h>
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#include "../servo.h"
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#include "../servo_private.h"
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static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
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/************ static functions common to all instances ***********************/
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static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
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if (Channel[timer] < 0)
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*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
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else {
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if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
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digitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
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}
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Channel[timer]++; // increment to the next channel
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if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
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*OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks;
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if (SERVO(timer, Channel[timer]).Pin.isActive) // check if activated
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digitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
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}
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else {
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// finished all channels so wait for the refresh period to expire before starting over
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if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed
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*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
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else
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*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
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Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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}
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}
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#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
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// Interrupt handlers for Arduino
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#if ENABLED(_useTimer1)
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SIGNAL (TIMER1_COMPA_vect) { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
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#endif
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#if ENABLED(_useTimer3)
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SIGNAL (TIMER3_COMPA_vect) { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
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#endif
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#if ENABLED(_useTimer4)
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SIGNAL (TIMER4_COMPA_vect) { handle_interrupts(_timer4, &TCNT4, &OCR4A); }
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#endif
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#if ENABLED(_useTimer5)
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SIGNAL (TIMER5_COMPA_vect) { handle_interrupts(_timer5, &TCNT5, &OCR5A); }
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#endif
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#else // WIRING
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// Interrupt handlers for Wiring
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#if ENABLED(_useTimer1)
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void Timer1Service() { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
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#endif
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#if ENABLED(_useTimer3)
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void Timer3Service() { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
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#endif
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#endif // WIRING
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/****************** end of static functions ******************************/
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void initISR(timer16_Sequence_t timer) {
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#if ENABLED(_useTimer1)
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if (timer == _timer1) {
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TCCR1A = 0; // normal counting mode
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TCCR1B = _BV(CS11); // set prescaler of 8
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TCNT1 = 0; // clear the timer count
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#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
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SBI(TIFR, OCF1A); // clear any pending interrupts;
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SBI(TIMSK, OCIE1A); // enable the output compare interrupt
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#else
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// here if not ATmega8 or ATmega128
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SBI(TIFR1, OCF1A); // clear any pending interrupts;
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SBI(TIMSK1, OCIE1A); // enable the output compare interrupt
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#endif
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#ifdef WIRING
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timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
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#endif
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}
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#endif
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#if ENABLED(_useTimer3)
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if (timer == _timer3) {
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TCCR3A = 0; // normal counting mode
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TCCR3B = _BV(CS31); // set prescaler of 8
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TCNT3 = 0; // clear the timer count
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#ifdef __AVR_ATmega128__
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SBI(TIFR, OCF3A); // clear any pending interrupts;
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SBI(ETIMSK, OCIE3A); // enable the output compare interrupt
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#else
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SBI(TIFR3, OCF3A); // clear any pending interrupts;
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SBI(TIMSK3, OCIE3A); // enable the output compare interrupt
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#endif
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#ifdef WIRING
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timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only
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#endif
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}
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#endif
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#if ENABLED(_useTimer4)
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if (timer == _timer4) {
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TCCR4A = 0; // normal counting mode
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TCCR4B = _BV(CS41); // set prescaler of 8
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TCNT4 = 0; // clear the timer count
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TIFR4 = _BV(OCF4A); // clear any pending interrupts;
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TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt
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}
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#endif
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#if ENABLED(_useTimer5)
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if (timer == _timer5) {
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TCCR5A = 0; // normal counting mode
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TCCR5B = _BV(CS51); // set prescaler of 8
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TCNT5 = 0; // clear the timer count
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TIFR5 = _BV(OCF5A); // clear any pending interrupts;
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TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt
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}
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#endif
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}
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void finISR(timer16_Sequence_t timer) {
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// Disable use of the given timer
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#ifdef WIRING
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if (timer == _timer1) {
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CBI(
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#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
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TIMSK1
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#else
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TIMSK
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#endif
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, OCIE1A); // disable timer 1 output compare interrupt
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timerDetach(TIMER1OUTCOMPAREA_INT);
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}
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else if (timer == _timer3) {
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CBI(
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#if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
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TIMSK3
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#else
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ETIMSK
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#endif
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, OCIE3A); // disable the timer3 output compare A interrupt
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timerDetach(TIMER3OUTCOMPAREA_INT);
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}
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#else // !WIRING
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// For arduino - in future: call here to a currently undefined function to reset the timer
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UNUSED(timer);
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#endif
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}
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#endif // HAS_SERVOS
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#endif // ARDUINO_ARCH_AVR
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