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🧑‍💻 Misc. servo code cleanup

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This commit is contained in:
Scott Lahteine
2022-06-09 00:51:47 -05:00
committed by Scott Lahteine
parent ea22640d78
commit 1156557a47
6 changed files with 32 additions and 36 deletions
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21
Marlin/src/HAL/DUE/Servo.cpp
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@ -52,7 +52,7 @@ static volatile int8_t Channel[_Nbr_16timers]; // counter for the s
// ------------------------
/// Interrupt handler for the TC0 channel 1.
// ------------------------
void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t);
#ifdef _useTimer1
void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); }
@ -70,7 +70,7 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); }
#endif
void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) {
// clear interrupt
tc->TC_CHANNEL[channel].TC_SR;
if (Channel[timer] < 0)
@ -113,26 +113,21 @@ static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
TC_Start(tc, channel);
}
void initISR(timer16_Sequence_t timer) {
void initISR(const timer16_Sequence_t timer) {
#ifdef _useTimer1
if (timer == _timer1)
_initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
if (timer == _timer1) _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1);
#endif
#ifdef _useTimer2
if (timer == _timer2)
_initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
if (timer == _timer2) _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2);
#endif
#ifdef _useTimer3
if (timer == _timer3)
_initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
if (timer == _timer3) _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3);
#endif
#ifdef _useTimer4
if (timer == _timer4)
_initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
if (timer == _timer4) _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4);
#endif
#ifdef _useTimer5
if (timer == _timer5)
_initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
if (timer == _timer5) _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5);
#endif
}