72 lines
2.3 KiB
C++
72 lines
2.3 KiB
C++
/**
|
|
* 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
|