2018-11-16 03:32:01 -06:00
|
|
|
/**
|
|
|
|
* Marlin 3D Printer Firmware
|
|
|
|
* Copyright (C) 2016 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 <http://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), delay(SERVO_DELAY).
|
|
|
|
* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
|
|
|
|
* 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.
|
|
|
|
*
|
|
|
|
*/
|
|
|
|
#include "MarlinConfig.h"
|
|
|
|
|
|
|
|
#if HAS_SERVOS
|
|
|
|
|
|
|
|
#include <avr/interrupt.h>
|
|
|
|
#include <Arduino.h>
|
|
|
|
|
|
|
|
#include "servo.h"
|
|
|
|
|
|
|
|
#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009
|
|
|
|
#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
|
|
|
|
|
|
|
|
#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
|
|
|
|
|
|
|
|
//#define NBR_TIMERS ((MAX_SERVOS) / (SERVOS_PER_TIMER))
|
|
|
|
|
|
|
|
static ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
|
|
|
|
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval)
|
|
|
|
|
|
|
|
uint8_t ServoCount = 0; // the total number of attached servos
|
|
|
|
|
|
|
|
|
|
|
|
// convenience macros
|
|
|
|
#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo
|
|
|
|
#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // returns the index of the servo on this timer
|
|
|
|
#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index by timer and channel
|
|
|
|
#define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
|
|
|
|
|
|
|
|
#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
|
|
|
|
#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
|
|
|
|
|
|
|
|
/************ 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)
|
|
|
|
digitalWrite(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
|
|
|
|
digitalWrite(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
|
|
|
|
#if ENABLED(_useTimer1)
|
|
|
|
SIGNAL (TIMER1_COMPA_vect) { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(_useTimer3)
|
|
|
|
SIGNAL (TIMER3_COMPA_vect) { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(_useTimer4)
|
|
|
|
SIGNAL (TIMER4_COMPA_vect) { handle_interrupts(_timer4, &TCNT4, &OCR4A); }
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#if ENABLED(_useTimer5)
|
|
|
|
SIGNAL (TIMER5_COMPA_vect) { handle_interrupts(_timer5, &TCNT5, &OCR5A); }
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#else // WIRING
|
|
|
|
|
|
|
|
// Interrupt handlers for Wiring
|
|
|
|
#if ENABLED(_useTimer1)
|
|
|
|
void Timer1Service() { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
|
|
|
|
#endif
|
|
|
|
#if ENABLED(_useTimer3)
|
|
|
|
void Timer3Service() { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
|
|
|
|
#endif
|
|
|
|
|
|
|
|
#endif // WIRING
|
|
|
|
|
|
|
|
|
|
|
|
static void initISR(timer16_Sequence_t timer) {
|
|
|
|
#if ENABLED(_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
|
|
|
|
|
|
|
|
#if ENABLED(_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
|
|
|
|
|
|
|
|
#if ENABLED(_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
|
|
|
|
|
|
|
|
#if ENABLED(_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
|
|
|
|
}
|
|
|
|
|
|
|
|
static 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
|
|
|
|
}
|
|
|
|
|
|
|
|
static bool isTimerActive(timer16_Sequence_t timer) {
|
|
|
|
// returns true if any servo is active on this timer
|
|
|
|
for (uint8_t channel = 0; channel < SERVOS_PER_TIMER; channel++) {
|
|
|
|
if (SERVO(timer, channel).Pin.isActive)
|
|
|
|
return true;
|
|
|
|
}
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
|
2019-01-31 05:25:28 -06:00
|
|
|
|
2018-11-16 03:32:01 -06:00
|
|
|
/****************** end of static functions ******************************/
|
|
|
|
|
|
|
|
Servo::Servo() {
|
|
|
|
if (ServoCount < MAX_SERVOS) {
|
|
|
|
this->servoIndex = ServoCount++; // assign a servo index to this instance
|
|
|
|
servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
|
|
|
|
}
|
|
|
|
else
|
|
|
|
this->servoIndex = INVALID_SERVO; // too many servos
|
|
|
|
}
|
|
|
|
|
2019-01-31 05:25:28 -06:00
|
|
|
int8_t Servo::attach(int pin) {
|
2018-11-16 03:32:01 -06:00
|
|
|
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
|
|
|
|
}
|
|
|
|
|
2019-01-31 05:25:28 -06:00
|
|
|
int8_t Servo::attach(int pin, int min, int max) {
|
2018-11-16 03:32:01 -06:00
|
|
|
|
|
|
|
if (this->servoIndex >= MAX_SERVOS) return -1;
|
|
|
|
|
|
|
|
if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin;
|
|
|
|
pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
|
|
|
|
|
2019-01-31 05:25:28 -06:00
|
|
|
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
|
2018-11-16 03:32:01 -06:00
|
|
|
this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
|
|
|
|
this->max = (MAX_PULSE_WIDTH - max) / 4;
|
|
|
|
|
|
|
|
// initialize the timer if it has not already been initialized
|
|
|
|
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
|
|
|
if (!isTimerActive(timer)) initISR(timer);
|
|
|
|
servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
|
|
|
|
|
|
|
|
return this->servoIndex;
|
|
|
|
}
|
|
|
|
|
|
|
|
void Servo::detach() {
|
|
|
|
servo_info[this->servoIndex].Pin.isActive = false;
|
|
|
|
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
|
|
|
|
if (!isTimerActive(timer)) finISR(timer);
|
|
|
|
}
|
|
|
|
|
|
|
|
void Servo::write(int value) {
|
|
|
|
if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
|
|
|
|
value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
|
|
|
|
}
|
|
|
|
this->writeMicroseconds(value);
|
|
|
|
}
|
|
|
|
|
|
|
|
void Servo::writeMicroseconds(int value) {
|
|
|
|
// calculate and store the values for the given channel
|
|
|
|
byte channel = this->servoIndex;
|
|
|
|
if (channel < MAX_SERVOS) { // ensure channel is valid
|
|
|
|
// ensure pulse width is valid
|
|
|
|
value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
|
|
|
|
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
|
|
|
|
|
|
|
|
CRITICAL_SECTION_START;
|
|
|
|
servo_info[channel].ticks = value;
|
|
|
|
CRITICAL_SECTION_END;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
// return the value as degrees
|
|
|
|
int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
|
|
|
|
|
|
|
|
int Servo::readMicroseconds() {
|
|
|
|
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;
|
|
|
|
}
|
|
|
|
|
|
|
|
bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
|
|
|
|
|
2019-01-31 05:25:28 -06:00
|
|
|
void Servo::move(int value) {
|
2018-11-16 03:32:01 -06:00
|
|
|
constexpr uint16_t servo_delay[] = SERVO_DELAY;
|
|
|
|
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
|
|
|
|
if (this->attach(0) >= 0) {
|
|
|
|
this->write(value);
|
2019-01-31 05:25:28 -06:00
|
|
|
delay(servo_delay[this->servoIndex]);
|
2018-11-16 03:32:01 -06:00
|
|
|
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
|
|
|
|
this->detach();
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-01-31 05:25:28 -06:00
|
|
|
#endif
|