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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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13
Marlin/src/HAL/shared/servo.cpp
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@@ -65,7 +65,7 @@ uint8_t ServoCount = 0; // the total number of attached
/************ static functions common to all instances ***********************/
static boolean isTimerActive(timer16_Sequence_t timer) {
static bool anyTimerChannelActive(const timer16_Sequence_t timer) {
// returns true if any servo is active on this timer
LOOP_L_N(channel, SERVOS_PER_TIMER) {
if (SERVO(timer, channel).Pin.isActive)
@@ -101,17 +101,18 @@ int8_t Servo::attach(const int inPin, const int inMin, const int inMax) {
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[servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!anyTimerChannelActive(timer)) initISR(timer);
servo_info[servoIndex].Pin.isActive = true; // this must be set after the check for anyTimerChannelActive
return servoIndex;
}
void Servo::detach() {
servo_info[servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) finISR(timer);
const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!anyTimerChannelActive(timer)) finISR(timer);
//pinMode(servo_info[servoIndex].Pin.nbr, INPUT); // set servo pin to input
}
void Servo::write(int value) {

12
Marlin/src/HAL/shared/servo_private.h
View File

@@ -70,10 +70,10 @@
#define ticksToUs(_ticks) (unsigned(_ticks) * (SERVO_TIMER_PRESCALER) / clockCyclesPerMicrosecond())
// convenience macros
#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(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index 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_INDEX_TO_TIMER(_servo_nbr) timer16_Sequence_t(_servo_nbr / (SERVOS_PER_TIMER)) // the timer controlling this servo
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // the index of the servo on this timer
#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // servo index by timer and channel
#define SERVO(_timer,_channel) servo_info[SERVO_INDEX(_timer,_channel)] // servo class by timer and channel
// Types
@@ -94,5 +94,5 @@ extern ServoInfo_t servo_info[MAX_SERVOS];
// Public functions
extern void initISR(timer16_Sequence_t timer);
extern void finISR(timer16_Sequence_t timer);
extern void initISR(const timer16_Sequence_t timer);
extern void finISR(const timer16_Sequence_t timer);