161 lines
6.8 KiB
C++
161 lines
6.8 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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* Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
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* timers- Version 2 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), safe_delay(servo_delay[servoIndex]).
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* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after servo_delay[servoIndex].
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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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/**
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* The only time that this library wants physical movement is when a WRITE
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* command is issued. Before that all the attach & detach activity is solely
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* within the data base.
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*
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* The PWM output is inactive until the first WRITE. After that it stays active
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* unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued.
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*/
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#include "../../inc/MarlinConfig.h"
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#if HAS_SERVOS && defined(TARGET_LPC1768)
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#include "LPC1768_PWM.h"
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#include "LPC1768_Servo.h"
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#include "servo_private.h"
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ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
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uint8_t ServoCount = 0; // the total number of attached servos
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#define US_TO_PULSE_WIDTH(p) p
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#define PULSE_WIDTH_TO_US(p) p
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#define TRIM_DURATION 0
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#define SERVO_MIN() MIN_PULSE_WIDTH // minimum value in uS for this servo
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#define SERVO_MAX() MAX_PULSE_WIDTH // maximum value in uS for this servo
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Servo::Servo() {
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if (ServoCount < MAX_SERVOS) {
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this->servoIndex = ServoCount++; // assign a servo index to this instance
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servo_info[this->servoIndex].pulse_width = US_TO_PULSE_WIDTH(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
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}
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else
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this->servoIndex = INVALID_SERVO; // too many servos
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}
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int8_t Servo::attach(const int pin) {
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return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
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}
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int8_t Servo::attach(const int pin, const int min, const int max) {
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if (this->servoIndex >= MAX_SERVOS) return -1;
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if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin; // only assign a pin value if the pin info is
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// greater than zero. This way the init routine can
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// assign the pin and the MOVE command only needs the value.
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this->min = MIN_PULSE_WIDTH; //resolution of min/max is 1 uS
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this->max = MAX_PULSE_WIDTH;
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servo_info[this->servoIndex].Pin.isActive = true;
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return this->servoIndex;
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}
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void Servo::detach() {
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servo_info[this->servoIndex].Pin.isActive = false;
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}
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void Servo::write(int value) {
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if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
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value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
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// odd - this sets zero degrees to 544 and 180 degrees to 2400 microseconds but the literature says
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// zero degrees should be 500 microseconds and 180 should be 2500
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}
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this->writeMicroseconds(value);
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}
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void Servo::writeMicroseconds(int value) {
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// calculate and store the values for the given channel
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byte channel = this->servoIndex;
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if (channel < MAX_SERVOS) { // ensure channel is valid
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// ensure pulse width is valid
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value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
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value = US_TO_PULSE_WIDTH(value); // convert to pulse_width after compensating for interrupt overhead - 12 Aug 2009
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servo_info[channel].pulse_width = value;
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LPC1768_PWM_attach_pin(servo_info[this->servoIndex].Pin.nbr, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, this->servoIndex);
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LPC1768_PWM_write(servo_info[this->servoIndex].Pin.nbr, value);
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}
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}
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// return the value as degrees
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int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
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int Servo::readMicroseconds() {
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return (this->servoIndex == INVALID_SERVO) ? 0 : PULSE_WIDTH_TO_US(servo_info[this->servoIndex].pulse_width) + TRIM_DURATION;
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}
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bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
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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) { // notice the pin number is zero here
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this->write(value);
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safe_delay(servo_delay[this->servoIndex]);
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#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
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this->detach();
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LPC1768_PWM_detach_pin(servo_info[this->servoIndex].Pin.nbr); // shut down the PWM signal
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LPC1768_PWM_attach_pin(servo_info[this->servoIndex].Pin.nbr, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, this->servoIndex); // make sure no one else steals the slot
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#endif
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}
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}
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#endif // HAS_SERVOS && TARGET_LPC1768
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