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authorGeorgiy Bondarenko <69736697+nehilo@users.noreply.github.com>2021-03-04 20:54:23 +0300
committerGeorgiy Bondarenko <69736697+nehilo@users.noreply.github.com>2021-03-04 20:54:23 +0300
commite8701195e66f2d27ffe17fb514eae8173795aaf7 (patch)
tree9f519c4abf6556b9ae7190a6210d87ead1dfadde /Marlin/src/HAL/ESP32/Servo.cpp
downloadkp3s-lgvl-e8701195e66f2d27ffe17fb514eae8173795aaf7.tar.xz
kp3s-lgvl-e8701195e66f2d27ffe17fb514eae8173795aaf7.zip
Initial commit
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diff --git a/Marlin/src/HAL/ESP32/Servo.cpp b/Marlin/src/HAL/ESP32/Servo.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#ifdef ARDUINO_ARCH_ESP32
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "Servo.h"
+
+// Adjacent channels (0/1, 2/3 etc.) share the same timer and therefore the same frequency and resolution settings on ESP32,
+// so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
+int Servo::channel_next_free = 12;
+
+Servo::Servo() {
+ channel = channel_next_free++;
+}
+
+int8_t Servo::attach(const int inPin) {
+ if (channel >= CHANNEL_MAX_NUM) return -1;
+ if (inPin > 0) pin = inPin;
+
+ ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
+ ledcAttachPin(pin, channel);
+ return true;
+}
+
+void Servo::detach() { ledcDetachPin(pin); }
+
+int Servo::read() { return degrees; }
+
+void Servo::write(int inDegrees) {
+ degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
+ int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+ int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
+ ledcWrite(channel, duty);
+}
+
+void Servo::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[channel]);
+ TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
+ }
+}
+#endif // HAS_SERVOS
+
+#endif // ARDUINO_ARCH_ESP32