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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/>.
*
*/
#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
#include "../../inc/MarlinConfig.h"
#if HAS_SERVOS
#include "Servo.h"
static uint_fast8_t servoCount = 0;
static libServo *servos[NUM_SERVOS] = {0};
constexpr millis_t servoDelay[] = SERVO_DELAY;
static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
// Initialize to the default timer priority. This will be overridden by a call from timers.cpp.
// This allows all timer interrupt priorities to be managed from a single location in the HAL.
static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
// This must be called after the STM32 Servo class has intialized the timer.
// It may only be needed after the first call to attach(), but it is possible
// that is is necessary after every detach() call. To be safe this is currently
// called after every call to attach().
static void fixServoTimerInterruptPriority() {
NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority);
}
libServo::libServo()
: delay(servoDelay[servoCount]),
was_attached_before_pause(false),
value_before_pause(0)
{
servos[servoCount++] = this;
}
int8_t libServo::attach(const int pin) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
auto result = stm32_servo.attach(servo_pin);
fixServoTimerInterruptPriority();
return result;
}
int8_t libServo::attach(const int pin, const int min, const int max) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
auto result = stm32_servo.attach(servo_pin, min, max);
fixServoTimerInterruptPriority();
return result;
}
void libServo::move(const int value) {
if (attach(0) >= 0) {
stm32_servo.write(value);
safe_delay(delay);
TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
}
}
void libServo::pause() {
was_attached_before_pause = stm32_servo.attached();
if (was_attached_before_pause) {
value_before_pause = stm32_servo.read();
stm32_servo.detach();
}
}
void libServo::resume() {
if (was_attached_before_pause) {
attach();
move(value_before_pause);
}
}
void libServo::pause_all_servos() {
for (auto& servo : servos)
if (servo) servo->pause();
}
void libServo::resume_all_servos() {
for (auto& servo : servos)
if (servo) servo->resume();
}
void libServo::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority) {
servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), preemptPriority, subPriority);
}
#endif // HAS_SERVOS
#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
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