B
126 lines
4.1 KiB
C++
126 lines
4.1 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2025 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../platforms.h"
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#ifdef ARDUINO_ARCH_MFL
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#include "../../inc/MarlinConfig.h"
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#if HAS_SERVOS
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#include "Servo.h"
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static uint_fast8_t servoCount = 0;
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static libServo* servos[NUM_SERVOS] = {0};
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constexpr millis_t servoDelay[] = SERVO_DELAY;
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static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
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// Initialize to the default timer priority. This will be overridden by a call from timers.cpp.
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// This allows all timer interrupt priorities to be managed from a single location in the HAL.
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static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), 12, 0);
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// This must be called after the MFL Servo class has initialized the timer.
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// To be safe this is currently called after every call to attach().
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static void fixServoTimerInterruptPriority() {
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auto& servoTimerIdx = GeneralTimer::get_instance(static_cast<timer::TIMER_Base>(TIMER_SERVO));
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NVIC_SetPriority(servoTimerIdx.getTimerUpIRQ(), servo_interrupt_priority);
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}
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// Default constructor for libServo class.
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// Initializes the servo delay, pause state, and pause value.
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// Registers the servo instance in the servos array.
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libServo::libServo() :
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delay(servoDelay[servoCount]),
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was_attached_before_pause(false),
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value_before_pause(0)
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{
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servos[servoCount++] = this;
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}
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// Attaches a servo to a specified pin.
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int8_t libServo::attach(const int pin) {
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if (servoCount >= MAX_SERVOS) return -1;
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if (pin > 0) servoPin = pin;
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auto result = mflServo.attach(servoPin);
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fixServoTimerInterruptPriority();
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return result;
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}
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// Attaches a servo to a specified pin with minimum and maximum pulse widths.
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int8_t libServo::attach(const int pin, const int min, const int max) {
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if (servoCount >= MAX_SERVOS) return -1;
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if (pin > 0) servoPin = pin;
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auto result = mflServo.attach(servoPin, min, max);
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fixServoTimerInterruptPriority();
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return result;
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}
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// Moves the servo to a specified position.
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void libServo::move(const int value) {
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if (attach(0) >= 0) {
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mflServo.write(value);
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safe_delay(delay);
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TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
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}
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}
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// Pause the servo by detaching it and storing its current state.
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void libServo::pause() {
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was_attached_before_pause = mflServo.attached();
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if (was_attached_before_pause) {
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value_before_pause = mflServo.read();
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mflServo.detach();
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}
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}
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// Resume a previously paused servo.
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// If the servo was attached before the pause, this function re-attaches
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// the servo and moves it to the position it was in before the pause.
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void libServo::resume() {
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if (was_attached_before_pause) {
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attach();
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move(value_before_pause);
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}
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}
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// Pause all servos by stopping their timers.
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void libServo::pause_all_servos() {
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for (auto& servo : servos)
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if (servo) servo->pause();
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}
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// Resume all paused servos by starting their timers.
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void libServo::resume_all_servos() {
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for (auto& servo : servos)
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if (servo) servo->resume();
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}
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// Set the interrupt priority for the servo.
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// @param preemptPriority The preempt priority level.
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// @param subPriority The sub priority level.
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void libServo::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority) {
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servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), preemptPriority, subPriority);
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}
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#endif // HAS_SERVOS
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#endif // ARDUINO_ARCH_MFL
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