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Diffstat (limited to 'Marlin/src/HAL/AVR/Servo.cpp')
| -rw-r--r-- | Marlin/src/HAL/AVR/Servo.cpp | 216 |
1 files changed, 216 insertions, 0 deletions
diff --git a/Marlin/src/HAL/AVR/Servo.cpp b/Marlin/src/HAL/AVR/Servo.cpp new file mode 100644 index 0000000..526352b --- /dev/null +++ b/Marlin/src/HAL/AVR/Servo.cpp @@ -0,0 +1,216 @@ +/** + * 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/>. + * + */ + +/** + * 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), safe_delay(servo_delay[servoIndex]). + * With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after servo_delay[servoIndex]. + * 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. + */ + +#ifdef __AVR__ + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include <avr/interrupt.h> + +#include "../shared/servo.h" +#include "../shared/servo_private.h" + +static volatile int8_t Channel[_Nbr_16timers]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) + + +/************ static functions common to all instances ***********************/ + +static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) { + if (Channel[timer] < 0) + *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer + else { + if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive) + extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated + } + + Channel[timer]++; // increment to the next channel + if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { + *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks; + if (SERVO(timer, Channel[timer]).Pin.isActive) // check if activated + extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high + } + else { + // finished all channels so wait for the refresh period to expire before starting over + if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed + *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL); + else + *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed + Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + } +} + +#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform + + // Interrupt handlers for Arduino + #ifdef _useTimer1 + SIGNAL(TIMER1_COMPA_vect) { handle_interrupts(_timer1, &TCNT1, &OCR1A); } + #endif + + #ifdef _useTimer3 + SIGNAL(TIMER3_COMPA_vect) { handle_interrupts(_timer3, &TCNT3, &OCR3A); } + #endif + + #ifdef _useTimer4 + SIGNAL(TIMER4_COMPA_vect) { handle_interrupts(_timer4, &TCNT4, &OCR4A); } + #endif + + #ifdef _useTimer5 + SIGNAL(TIMER5_COMPA_vect) { handle_interrupts(_timer5, &TCNT5, &OCR5A); } + #endif + +#else // WIRING + + // Interrupt handlers for Wiring + #ifdef _useTimer1 + void Timer1Service() { handle_interrupts(_timer1, &TCNT1, &OCR1A); } + #endif + #ifdef _useTimer3 + void Timer3Service() { handle_interrupts(_timer3, &TCNT3, &OCR3A); } + #endif + +#endif // WIRING + +/****************** end of static functions ******************************/ + +void initISR(timer16_Sequence_t timer) { + #ifdef _useTimer1 + if (timer == _timer1) { + TCCR1A = 0; // normal counting mode + TCCR1B = _BV(CS11); // set prescaler of 8 + TCNT1 = 0; // clear the timer count + #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) + SBI(TIFR, OCF1A); // clear any pending interrupts; + SBI(TIMSK, OCIE1A); // enable the output compare interrupt + #else + // here if not ATmega8 or ATmega128 + SBI(TIFR1, OCF1A); // clear any pending interrupts; + SBI(TIMSK1, OCIE1A); // enable the output compare interrupt + #endif + #ifdef WIRING + timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); + #endif + } + #endif + + #ifdef _useTimer3 + if (timer == _timer3) { + TCCR3A = 0; // normal counting mode + TCCR3B = _BV(CS31); // set prescaler of 8 + TCNT3 = 0; // clear the timer count + #ifdef __AVR_ATmega128__ + SBI(TIFR, OCF3A); // clear any pending interrupts; + SBI(ETIMSK, OCIE3A); // enable the output compare interrupt + #else + SBI(TIFR3, OCF3A); // clear any pending interrupts; + SBI(TIMSK3, OCIE3A); // enable the output compare interrupt + #endif + #ifdef WIRING + timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only + #endif + } + #endif + + #ifdef _useTimer4 + if (timer == _timer4) { + TCCR4A = 0; // normal counting mode + TCCR4B = _BV(CS41); // set prescaler of 8 + TCNT4 = 0; // clear the timer count + TIFR4 = _BV(OCF4A); // clear any pending interrupts; + TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt + } + #endif + + #ifdef _useTimer5 + if (timer == _timer5) { + TCCR5A = 0; // normal counting mode + TCCR5B = _BV(CS51); // set prescaler of 8 + TCNT5 = 0; // clear the timer count + TIFR5 = _BV(OCF5A); // clear any pending interrupts; + TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt + } + #endif +} + +void finISR(timer16_Sequence_t timer) { + // Disable use of the given timer + #ifdef WIRING + if (timer == _timer1) { + CBI( + #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) + TIMSK1 + #else + TIMSK + #endif + , OCIE1A); // disable timer 1 output compare interrupt + timerDetach(TIMER1OUTCOMPAREA_INT); + } + else if (timer == _timer3) { + CBI( + #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) + TIMSK3 + #else + ETIMSK + #endif + , OCIE3A); // disable the timer3 output compare A interrupt + timerDetach(TIMER3OUTCOMPAREA_INT); + } + #else // !WIRING + // For arduino - in future: call here to a currently undefined function to reset the timer + UNUSED(timer); + #endif +} + +#endif // HAS_SERVOS + +#endif // __AVR__ |