marlin/Marlin/src/HAL/HAL_ESP32/HAL_Servo_ESP32.cpp

/**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2019 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/>.
 *
 */
#ifdef ARDUINO_ARCH_ESP32

#include "../../inc/MarlinConfig.h"

#if HAS_SERVOS

#include "HAL_Servo_ESP32.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() {
  this->channel = channel_next_free++;
}

int8_t Servo::attach(const int pin) {
  if (this->channel >= CHANNEL_MAX_NUM) return -1;
  if (pin > 0) this->pin = pin;

  ledcSetup(this->channel, 50, 16); // channel X, 50 Hz, 16-bit depth
  ledcAttachPin(this->pin, this->channel);
  return true;
}

void Servo::detach() { ledcDetachPin(this->pin); }

int Servo::read() { return this->degrees; }

void Servo::write(int degrees) {
  this->degrees = constrain(degrees, MIN_ANGLE, MAX_ANGLE);
  int us = map(this->degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
  int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
  ledcWrite(channel, duty);
}

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 (this->attach(0) >= 0) {
    this->write(value);
    safe_delay(servo_delay[this->channel]);
    #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
      this->detach();
    #endif
  }
}
#endif // HAS_SERVOS

#endif // ARDUINO_ARCH_ESP32