161 lines
6.7 KiB
C
161 lines
6.7 KiB
C
|
/**
|
||
|
|
* 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.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
|
||
|
|
* Copyright (c) 2009 Michael Margolis. All right reserved.
|
||
|
|
*
|
||
|
|
* This library is free software; you can redistribute it and/or
|
||
|
|
* modify it under the terms of the GNU Lesser General Public
|
||
|
|
* License as published by the Free Software Foundation; either
|
||
|
|
* version 2.1 of the License, or (at your option) any later version.
|
||
|
|
*
|
||
|
|
* This library 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
|
||
|
|
* Lesser General Public License for more details.
|
||
|
|
*
|
||
|
|
* You should have received a copy of the GNU Lesser General Public
|
||
|
|
* License along with this library; if not, write to the Free Software
|
||
|
|
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||
|
|
*/
|
||
|
|
|
||
|
|
/**
|
||
|
|
*
|
||
|
|
* 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 sequence used to seize timers is defined in timers.h
|
||
|
|
*
|
||
|
|
* The methods are:
|
||
|
|
*
|
||
|
|
* Servo - Class for manipulating servo motors connected to Arduino pins.
|
||
|
|
*
|
||
|
|
* attach(pin ) - Attaches a servo motor to an i/o pin.
|
||
|
|
* attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
|
||
|
|
* default min is 544, max is 2400
|
||
|
|
*
|
||
|
|
* write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
|
||
|
|
* writeMicroseconds() - Sets the servo pulse width in microseconds
|
||
|
|
* read() - Gets the last written servo pulse width as an angle between 0 and 180.
|
||
|
|
* readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
|
||
|
|
* attached() - Returns true if there is a servo attached.
|
||
|
|
* detach() - Stops an attached servos from pulsing its i/o pin.
|
||
|
|
* move(angle) - Sequence of attach(0), write(angle),
|
||
|
|
* With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef SERVO_H
|
||
|
|
#define SERVO_H
|
||
|
|
|
||
|
|
#include <inttypes.h>
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Defines for 16 bit timers used with Servo library
|
||
|
|
*
|
||
|
|
* If _useTimerX is defined then TimerX is a 16 bit timer on the current board
|
||
|
|
* timer16_Sequence_t enumerates the sequence that the timers should be allocated
|
||
|
|
* _Nbr_16timers indicates how many 16 bit timers are available.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
// Say which 16 bit timers can be used and in what order
|
||
|
|
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
||
|
|
//#define _useTimer1 // Timer 1 is used by the stepper ISR
|
||
|
|
#define _useTimer3
|
||
|
|
#define _useTimer4
|
||
|
|
#if !HAS_MOTOR_CURRENT_PWM
|
||
|
|
#define _useTimer5 // Timer 5 is used for motor current PWM and can't be used for servos.
|
||
|
|
#endif
|
||
|
|
#elif defined(__AVR_ATmega32U4__)
|
||
|
|
#define _useTimer3
|
||
|
|
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
|
||
|
|
#define _useTimer3
|
||
|
|
#elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
|
||
|
|
#define _useTimer3
|
||
|
|
#else
|
||
|
|
// everything else
|
||
|
|
#endif
|
||
|
|
|
||
|
|
typedef enum {
|
||
|
|
#if ENABLED(_useTimer1)
|
||
|
|
_timer1,
|
||
|
|
#endif
|
||
|
|
#if ENABLED(_useTimer3)
|
||
|
|
_timer3,
|
||
|
|
#endif
|
||
|
|
#if ENABLED(_useTimer4)
|
||
|
|
_timer4,
|
||
|
|
#endif
|
||
|
|
#if ENABLED(_useTimer5)
|
||
|
|
_timer5,
|
||
|
|
#endif
|
||
|
|
_Nbr_16timers
|
||
|
|
} timer16_Sequence_t;
|
||
|
|
|
||
|
|
#define Servo_VERSION 2 // software version of this library
|
||
|
|
|
||
|
|
#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
|
||
|
|
#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
|
||
|
|
#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
|
||
|
|
#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
|
||
|
|
|
||
|
|
#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
|
||
|
|
#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
|
||
|
|
|
||
|
|
#define INVALID_SERVO 255 // flag indicating an invalid servo index
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
uint8_t nbr : 6 ; // a pin number from 0 to 63
|
||
|
|
uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
|
||
|
|
} ServoPin_t;
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
ServoPin_t Pin;
|
||
|
|
unsigned int ticks;
|
||
|
|
} ServoInfo_t;
|
||
|
|
|
||
|
|
class Servo {
|
||
|
|
public:
|
||
|
|
Servo();
|
||
|
|
int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
|
||
|
|
int8_t attach(const int pin, const int min, const int max); // as above but also sets min and max values for writes.
|
||
|
|
void detach();
|
||
|
|
void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
|
||
|
|
void writeMicroseconds(int value); // write pulse width in microseconds
|
||
|
|
void move(const int value); // attach the servo, then move to value
|
||
|
|
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
|
||
|
|
// if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
|
||
|
|
int read(); // returns current pulse width as an angle between 0 and 180 degrees
|
||
|
|
int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
|
||
|
|
bool attached(); // return true if this servo is attached, otherwise false
|
||
|
|
|
||
|
|
private:
|
||
|
|
uint8_t servoIndex; // index into the channel data for this servo
|
||
|
|
int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
|
||
|
|
int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // SERVO_H
|