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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
- *
- * 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/>.
- *
- */
- #ifdef ARDUINO_ARCH_ESP32
-
- #include "../../inc/MarlinConfig.h"
-
- #if HAS_SERVOS
-
- #include "Servo.h"
-
- // Adjacent channels (0/1, 2/3 etc.) share the same timer and therefore the same frequency and resolution settings on ESP32,
- // so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.)
- int Servo::channel_next_free = 12;
-
- Servo::Servo() {}
-
- int8_t Servo::attach(const int inPin) {
- if (inPin > 0) pin = inPin;
- channel = get_pwm_channel(pin, 50u, 16u);
- return channel; // -1 if no PWM avail.
- }
-
- // leave channel connected to servo - set duty to zero
- void Servo::detach() {
- if (channel >= 0) ledcWrite(channel, 0);
- }
-
- int Servo::read() { return degrees; }
-
- void Servo::write(int inDegrees) {
- degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
- int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
- int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
- if (channel >= 0) ledcWrite(channel, duty); // don't save duty for servos!
- }
-
- void Servo::move(const int value) {
- constexpr uint16_t servo_delay[] = SERVO_DELAY;
- static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
- if (attach(0) >= 0) {
- write(value);
- safe_delay(servo_delay[channel]);
- TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
- }
- }
- #endif // HAS_SERVOS
-
- #endif // ARDUINO_ARCH_ESP32
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