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1 files changed, 60 insertions, 0 deletions

diff --git a/Marlin/src/HAL/STM32F1/Servo.h b/Marlin/src/HAL/STM32F1/Servo.h
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+++ b/Marlin/src/HAL/STM32F1/Servo.h
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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
+ * Copyright (c) 2017 Victor Perez
+ *
+ * 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/>.
+ *
+ */
+#pragma once
+
+// Pin number of unattached pins
+#define NOT_ATTACHED                    (-1)
+#define INVALID_SERVO                   255
+
+#ifndef MAX_SERVOS
+  #define MAX_SERVOS 3
+#endif
+
+#define SERVO_DEFAULT_MIN_PW            544
+#define SERVO_DEFAULT_MAX_PW            2400
+#define SERVO_DEFAULT_MIN_ANGLE         0
+#define SERVO_DEFAULT_MAX_ANGLE         180
+
+#define HAL_SERVO_LIB libServo
+
+class libServo {
+  public:
+    libServo();
+    bool attach(const int32_t pin, const int32_t minAngle=SERVO_DEFAULT_MIN_ANGLE, const int32_t maxAngle=SERVO_DEFAULT_MAX_ANGLE);
+    bool attached() const { return pin != NOT_ATTACHED; }
+    bool detach();
+    void move(const int32_t value);
+    int32_t read() const;
+  private:
+    void servoWrite(uint8_t pin, const uint16_t duty_cycle);
+
+    uint8_t servoIndex;               // index into the channel data for this servo
+    int32_t pin = NOT_ATTACHED;
+    int32_t minAngle;
+    int32_t maxAngle;
+    int32_t angle;
+
+    bool setupSoftPWM(const int32_t pin);
+    void pauseSoftPWM();
+    void pwmSetDuty(const uint16_t duty_cycle);
+};