1 files changed, 69 insertions, 0 deletions
diff --git a/Marlin/src/HAL/ESP32/Servo.cpp b/Marlin/src/HAL/ESP32/Servo.cpp
new file mode 100644
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+++ b/Marlin/src/HAL/ESP32/Servo.cpp
@@ -0,0 +1,69 @@
+/**
+ * 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