60 lines
1.8 KiB
C++
60 lines
1.8 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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/**
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* HAL Servo for Teensy 3.5 (MK64FX512) and Teensy 3.6 (MK66FX1M0)
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*/
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#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
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#include "../../inc/MarlinConfig.h"
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#if HAS_SERVOS
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#include "Servo.h"
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uint8_t servoPin[MAX_SERVOS] = { 0 };
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int8_t libServo::attach(const int inPin) {
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if (servoIndex >= MAX_SERVOS) return -1;
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if (inPin > 0) servoPin[servoIndex] = inPin;
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return super::attach(servoPin[servoIndex]);
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}
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int8_t libServo::attach(const int inPin, const int inMin, const int inMax) {
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if (inPin > 0) servoPin[servoIndex] = inPin;
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return super::attach(servoPin[servoIndex], inMin, inMax);
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}
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void libServo::move(const int value) {
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constexpr uint16_t servo_delay[] = SERVO_DELAY;
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static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
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if (attach(0) >= 0) {
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write(value);
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safe_delay(servo_delay[servoIndex]);
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TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
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}
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}
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#endif // HAS_SERVOS
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#endif // __MK64FX512__ || __MK66FX1M0__
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