bissen21/Marlin_Firmware
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Less use of "this"

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This commit is contained in:
Scott Lahteine
2019-09-25 08:29:59 -05:00
parent 661c3cfc99
commit 0b4aedf13e
14 changed files with 245 additions and 248 deletions
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60
Marlin/src/HAL/shared/servo.cpp
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@ -58,11 +58,11 @@
#include "servo.h"
#include "servo_private.h"
ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
uint8_t ServoCount = 0; // the total number of attached servos
ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
uint8_t ServoCount = 0; // the total number of attached servos
#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_MIN(v) (MIN_PULSE_WIDTH - (v) * 4) // minimum value in uS for this servo
#define SERVO_MAX(v) (MAX_PULSE_WIDTH - (v) * 4) // maximum value in uS for this servo
/************ static functions common to all instances ***********************/
@ -79,54 +79,54 @@ static boolean isTimerActive(timer16_Sequence_t timer) {
Servo::Servo() {
if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance
servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
servoIndex = ServoCount++; // assign a servo index to this instance
servo_info[servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
}
else
this->servoIndex = INVALID_SERVO; // too many servos
servoIndex = INVALID_SERVO; // too many servos
}
int8_t Servo::attach(const int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
int8_t Servo::attach(const int inPin) {
return attach(inPin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
int8_t Servo::attach(const int pin, const int min, const int max) {
int8_t Servo::attach(const int inPin, const int inMin, const int inMax) {
if (this->servoIndex >= MAX_SERVOS) return -1;
if (servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin;
pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
if (inPin > 0) servo_info[servoIndex].Pin.nbr = inPin;
pinMode(servo_info[servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
// todo min/max check: ABS(min - MIN_PULSE_WIDTH) /4 < 128
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
min = (MIN_PULSE_WIDTH - inMin) / 4; //resolution of min/max is 4 uS
max = (MAX_PULSE_WIDTH - inMax) / 4;
// 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
servo_info[servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
return this->servoIndex;
return servoIndex;
}
void Servo::detach() {
servo_info[this->servoIndex].Pin.isActive = false;
servo_info[servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) finISR(timer);
}
void Servo::write(int value) {
if (value < MIN_PULSE_WIDTH) // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
this->writeMicroseconds(value);
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(min), SERVO_MAX(max));
writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value) {
// calculate and store the values for the given channel
byte channel = this->servoIndex;
byte channel = servoIndex;
if (channel < MAX_SERVOS) { // ensure channel is valid
// ensure pulse width is valid
value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
value = constrain(value, SERVO_MIN(min), SERVO_MAX(max)) - (TRIM_DURATION);
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
CRITICAL_SECTION_START;
@ -136,22 +136,22 @@ void Servo::writeMicroseconds(int value) {
}
// return the value as degrees
int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::read() { return map(readMicroseconds() + 1, SERVO_MIN(min), SERVO_MAX(max), 0, 180); }
int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + (TRIM_DURATION);
return (servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[servoIndex].ticks) + (TRIM_DURATION);
}
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
bool Servo::attached() { return servo_info[servoIndex].Pin.isActive; }
void Servo::move(const int value) {
constexpr uint16_t servo_delay[] = SERVO_DELAY;
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attach(0) >= 0) {
this->write(value);
safe_delay(servo_delay[this->servoIndex]);
if (attach(0) >= 0) {
write(value);
safe_delay(servo_delay[servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
detach();
#endif
}
}