bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

SAMD51 Servo class (#14781)

Browse Source
This commit is contained in:
Giuliano Zaro 2019-08-02 14:37:41 +02:00 committed by Scott Lahteine
parent 8efa3455c2
commit 21993b75f4
15 changed files with 318 additions and 117 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Marlin/src/HAL/HAL_AVR/ServoTimers.h
View File

@ -53,8 +53,8 @@
* --------------------
*/
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
#define PRESCALER 8 // timer prescaler
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
#define SERVO_TIMER_PRESCALER 8 // timer prescaler
// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)

4
Marlin/src/HAL/HAL_DUE/ServoTimers.h
View File

@ -36,8 +36,8 @@
//!#define _useTimer4
#define _useTimer5
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
#define PRESCALER 32 // timer prescaler
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays
#define SERVO_TIMER_PRESCALER 32 // timer prescaler
/*
TC0, chan 0 => TC0_Handler

58
Marlin/src/HAL/HAL_SAMD51/HAL.cpp
View File

@ -193,8 +193,8 @@ uint16_t HAL_adc_result;
uint16_t HAL_adc_results[COUNT(adc_pins)];
#if ADC0_IS_REQUIRED
Adafruit_ZeroDMA adc0ProgramDMA,
adc0ReadDMA;
Adafruit_ZeroDMA adc0DMAProgram,
adc0DMARead;
const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = {
#if GET_TEMP_0_ADC() == 0
@ -233,8 +233,8 @@ uint16_t HAL_adc_result;
#endif // ADC0_IS_REQUIRED
#if ADC1_IS_REQUIRED
Adafruit_ZeroDMA adc1ProgramDMA,
adc1ReadDMA;
Adafruit_ZeroDMA adc1DMAProgram,
adc1DMARead;
const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = {
#if GET_TEMP_0_ADC() == 1
@ -284,11 +284,11 @@ uint16_t HAL_adc_result;
DmacDescriptor *descriptor;
#if ADC0_IS_REQUIRED
adc0ProgramDMA.setTrigger(ADC0_DMAC_ID_SEQ);
adc0ProgramDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
adc0ProgramDMA.loop(true);
if (adc0ProgramDMA.allocate() == DMA_STATUS_OK) {
descriptor = adc0ProgramDMA.addDescriptor(
adc0DMAProgram.setTrigger(ADC0_DMAC_ID_SEQ);
adc0DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT);
adc0DMAProgram.loop(true);
if (adc0DMAProgram.allocate() == DMA_STATUS_OK) {
descriptor = adc0DMAProgram.addDescriptor(
(void *)adc0_dma_regs_list, // SRC
(void *)&ADC0->DSEQDATA.reg, // DEST
sizeof(adc0_dma_regs_list) / 4, // CNT
@ -300,14 +300,14 @@ uint16_t HAL_adc_result;
);
if (descriptor != nullptr)
descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT;
adc0ProgramDMA.startJob();
adc0DMAProgram.startJob();
}
adc0ReadDMA.setTrigger(ADC0_DMAC_ID_RESRDY);
adc0ReadDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
adc0ReadDMA.loop(true);
if (adc0ReadDMA.allocate() == DMA_STATUS_OK) {
adc0ReadDMA.addDescriptor(
adc0DMARead.setTrigger(ADC0_DMAC_ID_RESRDY);
adc0DMARead.setAction(DMA_TRIGGER_ACTON_BEAT);
adc0DMARead.loop(true);
if (adc0DMARead.allocate() == DMA_STATUS_OK) {
adc0DMARead.addDescriptor(
(void *)&ADC0->RESULT.reg, // SRC
&HAL_adc_results, // DEST
ADC0_AINCOUNT, // CNT
@ -317,15 +317,15 @@ uint16_t HAL_adc_result;
DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE
DMA_STEPSEL_DST // STEPSEL
);
adc0ReadDMA.startJob();
adc0DMARead.startJob();
}
#endif
#if ADC1_IS_REQUIRED
adc1ProgramDMA.setTrigger(ADC1_DMAC_ID_SEQ);
adc1ProgramDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
adc1ProgramDMA.loop(true);
if (adc1ProgramDMA.allocate() == DMA_STATUS_OK) {
descriptor = adc1ProgramDMA.addDescriptor(
adc1DMAProgram.setTrigger(ADC1_DMAC_ID_SEQ);
adc1DMAProgram.setAction(DMA_TRIGGER_ACTON_BEAT);
adc1DMAProgram.loop(true);
if (adc1DMAProgram.allocate() == DMA_STATUS_OK) {
descriptor = adc1DMAProgram.addDescriptor(
(void *)adc1_dma_regs_list, // SRC
(void *)&ADC1->DSEQDATA.reg, // DEST
sizeof(adc1_dma_regs_list) / 4, // CNT
@ -337,14 +337,14 @@ uint16_t HAL_adc_result;
);
if (descriptor != nullptr)
descriptor->BTCTRL.bit.EVOSEL = DMA_EVENT_OUTPUT_BEAT;
adc1ProgramDMA.startJob();
adc1DMAProgram.startJob();
}
adc1ReadDMA.setTrigger(ADC1_DMAC_ID_RESRDY);
adc1ReadDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
adc1ReadDMA.loop(true);
if (adc1ReadDMA.allocate() == DMA_STATUS_OK) {
adc1ReadDMA.addDescriptor(
adc1DMARead.setTrigger(ADC1_DMAC_ID_RESRDY);
adc1DMARead.setAction(DMA_TRIGGER_ACTON_BEAT);
adc1DMARead.loop(true);
if (adc1DMARead.allocate() == DMA_STATUS_OK) {
adc1DMARead.addDescriptor(
(void *)&ADC1->RESULT.reg, // SRC
&HAL_adc_results[ADC0_AINCOUNT], // DEST
ADC1_AINCOUNT, // CNT
@ -354,11 +354,11 @@ uint16_t HAL_adc_result;
DMA_ADDRESS_INCREMENT_STEP_SIZE_1, // STEPSIZE
DMA_STEPSEL_DST // STEPSEL
);
adc1ReadDMA.startJob();
adc1DMARead.startJob();
}
#endif
DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels used by ADCs
DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels required by ADCs
}
#endif // DMA_IS_REQUIRED

3
Marlin/src/HAL/HAL_SAMD51/HAL.h
View File

@ -76,7 +76,8 @@
typedef int8_t pin_t;
//#define HAL_SERVO_LIB Servo
#define SHARED_SERVOS HAS_SERVOS
#define HAL_SERVO_LIB Servo
//
// Interrupts

4
Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.cpp
View File

@ -40,8 +40,8 @@
const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS] = {
{ TC0, TC0_IRQn, TC_PRIORITY(0) },
{ TC1, TC1_IRQn, TC_PRIORITY(1) },
{ TC2, TC2_IRQn, TC_PRIORITY(2) },
{ TC3, TC3_IRQn, TC_PRIORITY(3) },
{ TC2, TC2_IRQn, TC_PRIORITY(2) }, // Reserved by framework tone function
{ TC3, TC3_IRQn, TC_PRIORITY(3) }, // Reserved by servo library
{ TC4, TC4_IRQn, TC_PRIORITY(4) },
{ TC5, TC5_IRQn, TC_PRIORITY(5) },
{ TC6, TC6_IRQn, TC_PRIORITY(6) },

9
Marlin/src/HAL/HAL_SAMD51/HAL_timers_SAMD51.h
View File

@ -33,7 +33,6 @@ typedef uint32_t hal_timer_t;
#define STEP_TIMER_NUM 0 // index of timer to use for stepper (also +1 for 32bits counter)
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define TONE_TIMER_NUM 2 // index of timer to use for beeper tones (also +1 for 32bits counter)
#define TEMP_TIMER_NUM 4 // index of timer to use for temperature (also +1 for 32bits counter)
#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency
@ -53,9 +52,10 @@ typedef uint32_t hal_timer_t;
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define TC_PRIORITY(t) (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \
: (t == TEMP_TIMER_NUM) ? 6 \
: (t == TONE_TIMER_NUM) ? 5 : 7
#define TC_PRIORITY(t) (t == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \
: (t == TEMP_TIMER_NUM) ? 6 \
: 7
#define _TC_HANDLER(t) void TC##t##_Handler()
#define TC_HANDLER(t) _TC_HANDLER(t)
#define HAL_STEP_TIMER_ISR() TC_HANDLER(STEP_TIMER_NUM)
@ -63,7 +63,6 @@ typedef uint32_t hal_timer_t;
#define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM)
#endif
#define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM)
#define HAL_TONE_TIMER_ISR() TC_HANDLER(TONE_TIMER_NUM)
// --------------------------------------------------------------------------
// Types

4
Marlin/src/HAL/HAL_SAMD51/SAMD51.h
View File

@ -20,8 +20,8 @@
*/
#pragma once
#define SYNC(sc) while (sc) { \
asm(""); \
#define SYNC(sc) while (sc) { \
asm(""); \
}
// Get SAMD port/pin from specified arduino pin

39
Marlin/src/HAL/HAL_SAMD51/ServoTimers.h Normal file
View File

@ -0,0 +1,39 @@
/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#define _useTimer1
#define _useTimer2
#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays
#define SERVO_TIMER_PRESCALER 64 // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond
#define SERVO_TC 3
typedef enum {
#ifdef _useTimer1
_timer1,
#endif
#ifdef _useTimer2
_timer2,
#endif
_Nbr_16timers
} timer16_Sequence_t;

226
Marlin/src/HAL/HAL_SAMD51/Servo_SAMD51.cpp Normal file
View File

@ -0,0 +1,226 @@
/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* This comes from Arduino library which at the moment is buggy and uncompilable
*/
#ifdef __SAMD51__
#include "../../inc/MarlinConfig.h"
#if HAS_SERVOS
#include "../shared/Marduino.h"
#include "../shared/servo.h"
#include "../shared/servo_private.h"
#include "SAMD51.h"
#include "HAL_timers_SAMD51.h"
#define __TC_GCLK_ID(t) TC##t##_GCLK_ID
#define _TC_GCLK_ID(t) __TC_GCLK_ID(t)
#define TC_GCLK_ID _TC_GCLK_ID(SERVO_TC)
#define _TC_PRESCALER(d) TC_CTRLA_PRESCALER_DIV##d##_Val
#define TC_PRESCALER(d) _TC_PRESCALER(d)
#define __SERVO_IRQn(t) TC##t##_IRQn
#define _SERVO_IRQn(t) __SERVO_IRQn(t)
#define SERVO_IRQn _SERVO_IRQn(SERVO_TC)
#define HAL_SERVO_TIMER_ISR() TC_HANDLER(SERVO_TC)
#define TIMER_TCCHANNEL(t) ((t) & 1)
#define TC_COUNTER_START_VAL 0xFFFF
static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval)
FORCE_INLINE static uint16_t getTimerCount() {
Tc * const tc = TimerConfig[SERVO_TC].pTimer;
tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC;
SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB || tc->COUNT16.SYNCBUSY.bit.COUNT);
return tc->COUNT16.COUNT.reg;
}
// ----------------------------
// Interrupt handler for the TC
// ----------------------------
HAL_SERVO_TIMER_ISR() {
Tc * const tc = TimerConfig[SERVO_TC].pTimer;
const timer16_Sequence_t timer =
#ifndef _useTimer1
_timer2
#elif !defined(_useTimer2)
_timer1
#else
(tc->COUNT16.INTFLAG.reg & tc->COUNT16.INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2
#endif
;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
if (currentServoIndex[timer] < 0) {
#if defined(_useTimer1) && defined(_useTimer2)
if (currentServoIndex[timer ^ 1] >= 0) {
// Wait for both channels
// Clear the interrupt
tc->COUNT16.INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1;
return;
}
#endif
tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;
SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT);
}
else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive)
digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated
// Select the next servo controlled by this timer
currentServoIndex[timer]++;
if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) {
if (SERVO(timer, currentServoIndex[timer]).Pin.isActive) // check if activated
digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high
tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks;
}
else {
// finished all channels so wait for the refresh period to expire before starting over
currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
const uint16_t tcCounterValue = getTimerCount();
if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed
tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL);
else
tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL); // at least REFRESH_INTERVAL has elapsed
}
if (tcChannel == 0) {
SYNC(tc->COUNT16.SYNCBUSY.bit.CC0);
// Clear the interrupt
tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0;
}
else {
SYNC(tc->COUNT16.SYNCBUSY.bit.CC1);
// Clear the interrupt
tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1;
}
}
void initISR(timer16_Sequence_t timer) {
Tc * const tc = TimerConfig[SERVO_TC].pTimer;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
static bool initialized = false; // Servo TC has been initialized
if (!initialized) {
NVIC_DisableIRQ(SERVO_IRQn);
// Disable the timer
tc->COUNT16.CTRLA.bit.ENABLE = false;
SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE);
// Select GCLK0 as timer/counter input clock source
GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN = false;
SYNC(GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN);
GCLK->PCHCTRL[TC_GCLK_ID].reg = GCLK_PCHCTRL_GEN_GCLK0 | GCLK_PCHCTRL_CHEN; // 120MHz startup code programmed
SYNC(!GCLK->PCHCTRL[TC_GCLK_ID].bit.CHEN);
// Reset the timer
tc->COUNT16.CTRLA.bit.SWRST = true;
SYNC(tc->COUNT16.SYNCBUSY.bit.SWRST);
SYNC(tc->COUNT16.CTRLA.bit.SWRST);
// Set timer counter mode to 16 bits
tc->COUNT16.CTRLA.reg = TC_CTRLA_MODE_COUNT16;
// Set timer counter mode as normal PWM
tc->COUNT16.WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val;
// Set the prescaler factor
tc->COUNT16.CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER);
// Count down
tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_DIR;
SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB);
// Reset all servo indexes
memset(currentServoIndex, 0xFF, sizeof(currentServoIndex));
// Configure interrupt request
NVIC_ClearPendingIRQ(SERVO_IRQn);
NVIC_SetPriority(SERVO_IRQn, 5);
NVIC_EnableIRQ(SERVO_IRQn);
initialized = true;
}
if (!tc->COUNT16.CTRLA.bit.ENABLE) {
// Reset the timer counter
tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL;
SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT);
// Enable the timer and start it
tc->COUNT16.CTRLA.bit.ENABLE = true;
SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE);
}
// First interrupt request after 1 ms
tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL);
if (tcChannel == 0 ) {
SYNC(tc->COUNT16.SYNCBUSY.bit.CC0);
// Clear pending match interrupt
tc->COUNT16.INTFLAG.reg = TC_INTENSET_MC0;
// Enable the match channel interrupt request
tc->COUNT16.INTENSET.reg = TC_INTENSET_MC0;
}
else {
SYNC(tc->COUNT16.SYNCBUSY.bit.CC1);
// Clear pending match interrupt
tc->COUNT16.INTFLAG.reg = TC_INTENSET_MC1;
// Enable the match channel interrupt request
tc->COUNT16.INTENSET.reg = TC_INTENSET_MC1;
}
}
void finISR(timer16_Sequence_t timer) {
Tc * const tc = TimerConfig[SERVO_TC].pTimer;
const uint8_t tcChannel = TIMER_TCCHANNEL(timer);
// Disable the match channel interrupt request
tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1;
if (true
#if defined(_useTimer1) && defined(_useTimer2)
&& (tc->COUNT16.INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0
#endif
) {
// Disable the timer if not used
tc->COUNT16.CTRLA.bit.ENABLE = false;
SYNC(tc->COUNT16.SYNCBUSY.bit.ENABLE);
}
}
#endif // HAS_SERVOS
#endif // __SAMD51__

59
Marlin/src/HAL/HAL_SAMD51/Tone.cpp
View File

@ -1,59 +0,0 @@
/**
* Marlin 3D Printer Firmware
*
* Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
* SAMD51 HAL developed by Giuliano Zaro (AKA GMagician)
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* Description: Tone function for Arduino Due and compatible (SAM3X8E)
* Derived from http://forum.arduino.cc/index.php?topic=136500.msg2903012#msg2903012
*/
#ifdef __SAMD51__
#include "../../inc/MarlinConfig.h"
#include "HAL_timers_SAMD51.h"
static pin_t tone_pin;
volatile static int32_t toggles;
void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) {
tone_pin = _pin;
toggles = 2 * frequency * duration / 1000;
HAL_timer_start(TONE_TIMER_NUM, 2 * frequency);
}
void noTone(const pin_t _pin) {
HAL_timer_disable_interrupt(TONE_TIMER_NUM);
extDigitalWrite(_pin, LOW);
}
HAL_TONE_TIMER_ISR() {
static bool pin_state = false;
HAL_timer_isr_prologue(TONE_TIMER_NUM);
if (toggles) {
toggles--;
extDigitalWrite(tone_pin, (pin_state = !pin_state));
}
else noTone(tone_pin); // turn off interrupt
HAL_timer_isr_epilogue(TONE_TIMER_NUM);
}
#endif // __SAMD51__

2
Marlin/src/HAL/HAL_STM32/HAL_timers_STM32.cpp
View File

@ -32,8 +32,6 @@
#define NUM_HARDWARE_TIMERS 2
//#define PRESCALER 1
// ------------------------
// Private Variables
// ------------------------

2
Marlin/src/HAL/HAL_STM32_F4_F7/STM32F4/HAL_timers_STM32F4.cpp
View File

@ -33,8 +33,6 @@
#define STEP_TIMER_IRQ_ID TIM5_IRQn
#define TEMP_TIMER_IRQ_ID TIM7_IRQn
//#define PRESCALER 1
// ------------------------
// Private Variables
// ------------------------

5
Marlin/src/HAL/shared/servo.cpp
View File

@ -116,9 +116,8 @@ void Servo::detach() {
}
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)
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);
}
@ -140,7 +139,7 @@ void Servo::writeMicroseconds(int value) {
int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + (TRIM_DURATION);
}
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }

4
Marlin/src/HAL/shared/servo.h
View File

@ -84,10 +84,10 @@
#else
#include <stdint.h>
#if defined(__AVR__) || defined(ARDUINO_ARCH_SAM)
#if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined (__SAMD51__)
// we're good to go
#else
#error "This library only supports boards with an AVR or SAM3X processor."
#error "This library only supports boards with an AVR, SAM3X or SAMD51 processor."
#endif
#define Servo_VERSION 2 // software version of this library

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

@ -47,8 +47,10 @@
#include "../HAL_AVR/ServoTimers.h"
#elif defined(ARDUINO_ARCH_SAM)
#include "../HAL_DUE/ServoTimers.h"
#elif defined(__SAMD51__)
#include "../HAL_SAMD51/ServoTimers.h"
#else
#error "This library only supports boards with an AVR or SAM3X processor."
#error "This library only supports boards with an AVR, SAM3X or SAMD51 processor."
#endif
// Macros
@ -64,10 +66,8 @@
#define INVALID_SERVO 255 // flag indicating an invalid servo index
// Convert microseconds to ticks and back (PRESCALER depends on architecture)
#define usToTicks(_us) (clockCyclesPerMicrosecond() * (_us) / (PRESCALER))
#define ticksToUs(_ticks) (unsigned(_ticks) * (PRESCALER) / clockCyclesPerMicrosecond())
//#define NBR_TIMERS ((MAX_SERVOS) / (SERVOS_PER_TIMER))
#define usToTicks(_us) (clockCyclesPerMicrosecond() * (_us) / (SERVO_TIMER_PRESCALER))
#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
@ -78,7 +78,7 @@
// Types
typedef struct {
uint8_t nbr : 6 ; // a pin number from 0 to 63
uint8_t nbr : 7 ; // a pin number from 0 to 127
uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
} ServoPin_t;