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Clean up some HAL code

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This commit is contained in:
Scott Lahteine
2017-08-31 17:30:43 -05:00
parent b29b66feda
commit 27cbb939b2
12 changed files with 140 additions and 164 deletions
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4
Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h
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@ -21,7 +21,7 @@
*/
/**
* The class Servo uses the PWM class to implement it's functions
* The class Servo uses the PWM class to implement its functions
*
* All PWMs use the same repetition rate - 20mS because that's the normal servo rate
*/
@ -489,7 +489,7 @@ return;
* writes to the LER register
* sets the PWM_table_swap flag active
* re-enables the ISR
* 7) On the next interrupt the ISR changes it's pointer to the work table which is now the old,
* 7) On the next interrupt the ISR changes its pointer to the work table which is now the old,
* unmodified, active table.
* 8) On the next MR0 interrupt the ISR:
* switches over to the active table

130
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
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@ -1,85 +1,79 @@
/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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/>.
*
*/
/**
* Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
* timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
*/
/**
* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
* The servos are pulsed in the background using the value most recently written using the write() method
*
* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
*
* The methods are:
*
* Servo - Class for manipulating servo motors connected to Arduino pins.
*
* attach(pin) - Attach a servo motor to an i/o pin.
* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
* Default min is 544, max is 2400
*
* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
* writeMicroseconds() - Set the servo pulse width in microseconds.
* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
* read() - Get the last-written servo pulse width as an angle between 0 and 180.
* readMicroseconds() - Get the last-written servo pulse width in microseconds.
* attached() - Return true if a servo is attached.
* detach() - Stop an attached servo from pulsing its i/o pin.
*
*/
/**
* The only time that this library wants physical movement is when a WRITE
* command is issued. Before that all the attach & detach activity is solely
* within the data base.
* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* The PWM output is inactive until the first WRITE. After that it stays active
* unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued.
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* 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/>.
*
*/
#ifdef TARGET_LPC1768
/**
* Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
* timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
*/
#if HAS_SERVOS
/**
* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
* The servos are pulsed in the background using the value most recently written using the write() method
*
* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
*
* The methods are:
*
* Servo - Class for manipulating servo motors connected to Arduino pins.
*
* attach(pin) - Attach a servo motor to an i/o pin.
* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
* Default min is 544, max is 2400
*
* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
* writeMicroseconds() - Set the servo pulse width in microseconds.
* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
* read() - Get the last-written servo pulse width as an angle between 0 and 180.
* readMicroseconds() - Get the last-written servo pulse width in microseconds.
* attached() - Return true if a servo is attached.
* detach() - Stop an attached servo from pulsing its i/o pin.
*
*/
/**
* The only time that this library wants physical movement is when a WRITE
* command is issued. Before that all the attach & detach activity is solely
* within the data base.
*
* The PWM output is inactive until the first WRITE. After that it stays active
* unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued.
*/
#include "LPC1768_Servo.h"
#include "servo_private.h"
#include "../../../MarlinConfig.h"
#if HAS_SERVOS && defined(TARGET_LPC1768)
#include "LPC1768_Servo.h"
#include "servo_private.h"
extern bool LPC1768_PWM_attach_pin(uint8_t, uint32_t, uint32_t, uint8_t);
extern bool LPC1768_PWM_write(uint8_t, uint32_t);
extern bool LPC1768_PWM_detach_pin(uint8_t);
ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
uint8_t ServoCount = 0; // the total number of attached servos
#define US_TO_PULSE_WIDTH(p) p
#define PULSE_WIDTH_TO_US(p) p
#define TRIM_DURATION 0
@ -107,7 +101,6 @@
// greater than zero. This way the init routine can
// assign the pin and the MOVE command only needs the value.
this->min = MIN_PULSE_WIDTH; //resolution of min/max is 1 uS
this->max = MAX_PULSE_WIDTH;
@ -165,7 +158,4 @@
}
}
#endif // HAS_SERVOS
#endif // TARGET_LPC1768
#endif // HAS_SERVOS && TARGET_LPC1768

57
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h
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@ -21,7 +21,7 @@
*/
/**
* The class Servo uses the PWM class to implement it's functions
* The class Servo uses the PWM class to implement its functions
*
* The PWM1 module is only used to generate interrups at specified times. It
* is NOT used to directly toggle pins. The ISR writes to the pin assigned to
@ -31,39 +31,32 @@
*
*/
#ifndef LPC1768_SERVO_h
#define LPC1768_SERVO_h
#ifndef LPC1768_SERVO_H
#define LPC1768_SERVO_H
#ifdef TARGET_LPC1768
#include <inttypes.h>
#include <inttypes.h>
class Servo {
public:
Servo();
int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
int8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // write pulse width in microseconds
void move(int value); // attach the servo, then move to value
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
bool attached(); // return true if this servo is attached, otherwise false
class Servo {
public:
Servo();
int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
int8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
void detach();
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
void writeMicroseconds(int value); // write pulse width in microseconds
void move(int value); // attach the servo, then move to value
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
int read(); // returns current pulse width as an angle between 0 and 180 degrees
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
bool attached(); // return true if this servo is attached, otherwise false
private:
uint8_t servoIndex; // index into the channel data for this servo
int min;
int max;
};
#define HAL_SERVO_LIB Servo
#endif
#endif
private:
uint8_t servoIndex; // index into the channel data for this servo
int min;
int max;
};
#define HAL_SERVO_LIB Servo
#endif // LPC1768_SERVO_H