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Patch servos code for move

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- Have `Servo::attach` explicitly return -1 if it fails
- Check for -1 in `Servo::move` because `servoIndex` might be 0
- Make `attach` / `detach` calls conditional on `SERVO_LEVELING`
- Move `SERVO_LEVELING` define to `Conditionals.h`
This commit is contained in:
Scott Lahteine 2015-07-19 11:24:23 -07:00
parent 54ddc1d417
commit 3b23ccd366
4 changed files with 32 additions and 25 deletions
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2
Marlin/Conditionals.h
View file

@ -279,6 +279,8 @@
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#endif
#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && defined(DEACTIVATE_SERVOS_AFTER_MOVE))
/**
* Sled Options
*/

2
Marlin/Marlin_main.cpp
View file

@ -36,8 +36,6 @@
#endif
#endif // ENABLE_AUTO_BED_LEVELING
#define SERVO_LEVELING (defined(ENABLE_AUTO_BED_LEVELING) && defined(DEACTIVATE_SERVOS_AFTER_MOVE))
#ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h"
#endif

47
Marlin/servo.cpp
View file

@ -35,7 +35,7 @@
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
move(pin, angel) - Sequence of attach(pin), write(angel).
move(pin, angle) - Sequence of attach(pin), write(angle).
With DEACTIVATE_SERVOS_AFTER_MOVE it waits SERVO_DEACTIVATION_DELAY and detaches.
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)
@ -238,23 +238,26 @@ Servo::Servo() {
this->servoIndex = INVALID_SERVO; // too many servos
}
uint8_t Servo::attach(int pin) {
int8_t Servo::attach(int pin) {
return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
uint8_t Servo::attach(int pin, int min, int max) {
if (this->servoIndex < MAX_SERVOS ) {
if(pin > 0)
servos[this->servoIndex].Pin.nbr = pin;
pinMode(servos[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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);
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
}
int8_t Servo::attach(int pin, int min, int max) {
if (this->servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servos[this->servoIndex].Pin.nbr = pin;
pinMode(servos[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
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);
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
return this->servoIndex;
}
@ -301,12 +304,16 @@ int Servo::readMicroseconds() {
bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; }
uint8_t Servo::move(int pin, int value) {
uint8_t ret;
ret = this->attach(pin);
if (ret) {
int8_t Servo::move(int pin, int value) {
int8_t ret;
#if SERVO_LEVELING
ret = this->attach(pin);
#else
ret = this->servoIndex;
#endif
if (ret >= 0) {
this->write(value);
#ifdef DEACTIVATE_SERVOS_AFTER_MOVE && (SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
delay(SERVO_DEACTIVATION_DELAY);
this->detach();
#endif

6
Marlin/servo.h
View file

@ -117,12 +117,12 @@ typedef struct {
class Servo {
public:
Servo();
uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
int8_t attach(int pin, int min, 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
uint8_t move(int pin, int value); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure.
int8_t move(int pin, int value); // attach the given pin to the next free channel, set pinMode, return channel number (-1 if attach fails)
// if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds.
// if DEACTIVATE_SERVOS_AFTER_MOVE is defined waits SERVO_DEACTIVATION_DELAY, than detaches.
int read(); // returns current pulse width as an angle between 0 and 180 degrees