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Fix multiple servos with STM32 (#16151)

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MangaValk 2019-12-11 08:44:05 +01:00 committed by Scott Lahteine
parent 31fdaea269
commit 96cf556139
3 changed files with 20 additions and 13 deletions
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23
Marlin/src/HAL/HAL_STM32/Servo.cpp
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@ -28,25 +28,30 @@
#include "Servo.h"
uint8_t servoPin[MAX_SERVOS] = { 0 };
static uint_fast8_t servoCount = 0;
constexpr millis_t servoDelay[] = SERVO_DELAY;
static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
libServo::libServo()
: delay(servoDelay[servoCount++])
{}
int8_t libServo::attach(const int pin) {
if (servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servoPin[servoIndex] = pin;
return super::attach(servoPin[servoIndex]);
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
return super::attach(servo_pin);
}
int8_t libServo::attach(const int pin, const int min, const int max) {
if (pin > 0) servoPin[servoIndex] = pin;
return super::attach(servoPin[servoIndex], min, max);
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
return super::attach(servo_pin, min, max);
}
void libServo::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 (attach(0) >= 0) {
write(value);
safe_delay(servo_delay[servoIndex]);
safe_delay(delay);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
detach();
#endif

6
Marlin/src/HAL/HAL_STM32/Servo.h
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@ -27,11 +27,13 @@
// Inherit and expand on the official library
class libServo : public Servo {
public:
libServo();
int8_t attach(const int pin);
int8_t attach(const int pin, const int min, const int max);
void move(const int value);
private:
typedef Servo super;
uint16_t min_ticks, max_ticks;
uint8_t servoIndex; // index into the channel data for this servo
int servo_pin = 0;
millis_t delay = 0;
};

4
buildroot/share/PlatformIO/variants/BIGTREE_SKR_PRO_1v1/variant.h
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@ -246,11 +246,11 @@ extern "C" {
// Timer Definitions
//Do not use timer used by PWM pins when possible. See PinMap_PWM in PeripheralPins.c
#define TIMER_TONE TIM6
#define TIMER_TONE TIM2
#define TIMER_SERIAL TIM7
// Do not use basic timer: OC is required
#define TIMER_SERVO TIM2 //TODO: advanced-control timers don't work
#define TIMER_SERVO TIM6 //TODO: advanced-control timers don't work
// UART Definitions
// Define here Serial instance number to map on Serial generic name