My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
  24. Copyright (c) 2009 Michael Margolis. All right reserved.
  25. This library is free software; you can redistribute it and/or
  26. modify it under the terms of the GNU Lesser General Public
  27. License as published by the Free Software Foundation; either
  28. version 2.1 of the License, or (at your option) any later version.
  29. This library is distributed in the hope that it will be useful,
  30. but WITHOUT ANY WARRANTY; without even the implied warranty of
  31. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
  32. Lesser General Public License for more details.
  33. You should have received a copy of the GNU Lesser General Public
  34. License along with this library; if not, write to the Free Software
  35. Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
  36. */
  37. /**
  38. A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
  39. The servos are pulsed in the background using the value most recently written using the write() method
  40. Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
  41. Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
  42. The sequence used to seize timers is defined in timers.h
  43. The methods are:
  44. Servo - Class for manipulating servo motors connected to Arduino pins.
  45. attach(pin ) - Attaches a servo motor to an i/o pin.
  46. attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds
  47. default min is 544, max is 2400
  48. write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds)
  49. writeMicroseconds() - Sets the servo pulse width in microseconds
  50. read() - Gets the last written servo pulse width as an angle between 0 and 180.
  51. readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
  52. attached() - Returns true if there is a servo attached.
  53. detach() - Stops an attached servos from pulsing its i/o pin.
  54. move(angle) - Sequence of attach(0), write(angle),
  55. With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach.
  56. */
  57. #ifndef servo_h
  58. #define servo_h
  59. #include <inttypes.h>
  60. /**
  61. * Defines for 16 bit timers used with Servo library
  62. *
  63. * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
  64. * timer16_Sequence_t enumerates the sequence that the timers should be allocated
  65. * _Nbr_16timers indicates how many 16 bit timers are available.
  66. *
  67. */
  68. // Say which 16 bit timers can be used and in what order
  69. #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
  70. //#define _useTimer1
  71. #define _useTimer3
  72. #define _useTimer4
  73. #if !HAS_MOTOR_CURRENT_PWM
  74. #define _useTimer5 // Timer 5 is used for motor current PWM and can't be used for servos.
  75. #endif
  76. #elif defined(__AVR_ATmega32U4__)
  77. #define _useTimer3
  78. #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
  79. #define _useTimer3
  80. #elif defined(__AVR_ATmega128__) || defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega2561__)
  81. #define _useTimer3
  82. #else
  83. // everything else
  84. #endif
  85. typedef enum {
  86. #if ENABLED(_useTimer1)
  87. _timer1,
  88. #endif
  89. #if ENABLED(_useTimer3)
  90. _timer3,
  91. #endif
  92. #if ENABLED(_useTimer4)
  93. _timer4,
  94. #endif
  95. #if ENABLED(_useTimer5)
  96. _timer5,
  97. #endif
  98. _Nbr_16timers
  99. } timer16_Sequence_t;
  100. #define Servo_VERSION 2 // software version of this library
  101. #define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
  102. #define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
  103. #define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
  104. #define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
  105. #define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
  106. #define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
  107. #define INVALID_SERVO 255 // flag indicating an invalid servo index
  108. typedef struct {
  109. uint8_t nbr : 6 ; // a pin number from 0 to 63
  110. uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
  111. } ServoPin_t;
  112. typedef struct {
  113. ServoPin_t Pin;
  114. unsigned int ticks;
  115. } ServoInfo_t;
  116. class Servo {
  117. public:
  118. Servo();
  119. int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
  120. int8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
  121. void detach();
  122. void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
  123. void writeMicroseconds(int value); // write pulse width in microseconds
  124. void move(int value); // attach the servo, then move to value
  125. // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
  126. // if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
  127. int read(); // returns current pulse width as an angle between 0 and 180 degrees
  128. int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
  129. bool attached(); // return true if this servo is attached, otherwise false
  130. private:
  131. uint8_t servoIndex; // index into the channel data for this servo
  132. int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
  133. int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
  134. };
  135. #endif