servo update

Marlin/src/HAL/HAL_LPC1768/DebugMonitor_LPC1768.cpp

@@ -315,4 +315,4 @@ __attribute__((naked)) void RSTC_Handler(void) {
   );
 }
 }
-#endif // ARDUINO_ARCH_SAM
+#endif // TARGET_LPC1768

Marlin/src/HAL/HAL_LPC1768/HAL.h

@@ -151,6 +151,8 @@ using FilteredADC = LPC176x::ADC<ADC_LOWPASS_K_VALUE, ADC_MEDIAN_FILTER_SIZE>;
 
 // Parse a G-code word into a pin index
 int16_t PARSED_PIN_INDEX(const char code, const int16_t dval);
+// P0.6 thru P0.9 are for the onboard SD card
+#define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09
 
 #define HAL_IDLETASK 1
 void HAL_idletask(void);

Marlin/src/HAL/HAL_LPC1768/MarlinServo.h

@@ -50,25 +50,24 @@
 #ifndef SERVO_PRIVATE_H
 #define SERVO_PRIVATE_H
 
-#include <LPC1768_Servo.h>
+#include <Servo.h>
 
 class MarlinServo: public Servo  {
+  public:
   void 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) {    // notice the pin number is zero here
-      this->write(value);
-
-      safe_delay(servo_delay[this->servoIndex]);
 
+    if (this->attach(servo_info[this->servoIndex].Pin.nbr) >= 0) {    // try to reattach
+      this->write(value);
+      safe_delay(servo_delay[this->servoIndex]); // delay to allow servo to reach position
       #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
         this->detach();
-        LPC1768_PWM_detach_pin(servo_info[this->servoIndex].Pin.nbr);  // shut down the PWM signal
-        LPC1768_PWM_attach_pin(servo_info[this->servoIndex].Pin.nbr, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, this->servoIndex);  // make sure no one else steals the slot
       #endif
     }
+
   }
-}
+};
 
 #define HAL_SERVO_LIB MarlinServo
 

Marlin/src/HAL/HAL_LPC1768/main.cpp

@@ -1,6 +1,5 @@
 #ifdef TARGET_LPC1768
 
-#include <LPC1768_PWM.h>
 #include <usb/usb.h>
 #include <usb/usbcfg.h>
 #include <usb/usbhw.h>
@@ -84,7 +83,6 @@ void HAL_init() {
   #endif
 
   HAL_timer_init();
-  LPC1768_PWM_init();
 }
 
 // HAL idle task

Marlin/src/HAL/HAL_LPC1768/spi_pins.h

@@ -50,7 +50,7 @@
 #ifndef SS_PIN
   #define SS_PIN            P1_23
 #endif
-#if !defined(SDSS) || SDSS == P_NC // get defaulted in pins.h
+#if !defined(SDSS) || SDSS == P_NC // gets defaulted in pins.h
   #undef SDSS
   #define SDSS              SS_PIN
 #endif

Marlin/src/HAL/shared/servo.h

@@ -73,7 +73,7 @@
 #elif IS_TEENSY35 || IS_TEENSY36
   #include "../HAL_TEENSY35_36/HAL_Servo_Teensy.h"
 #elif defined(TARGET_LPC1768)
-  #include "../HAL_LPC1768/servo_private.h"
+  #include "../HAL_LPC1768/MarlinServo.h"
 #elif defined(__STM32F1__) || defined(TARGET_STM32F1)
   #include "../HAL_STM32F1/HAL_Servo_STM32F1.h"
 #elif defined(STM32GENERIC) && defined(STM32F4)

Marlin/src/module/servo.h

@@ -27,6 +27,7 @@
 #ifndef _SERVO_H_
 #define _SERVO_H_
 
+#include "../inc/MarlinConfig.h"
 #include "../HAL/shared/servo.h"
 
 extern HAL_SERVO_LIB servo[NUM_SERVOS];
@@ -35,8 +36,6 @@ extern void servo_init();
 
 #define MOVE_SERVO(I, P) servo[I].move(P)
 
-#include "../inc/MarlinConfig.h"
-
 #if HAS_Z_SERVO_PROBE
   #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][0])
   #define STOW_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][1])