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/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
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* timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
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*/
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
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* The servos are pulsed in the background using the value most recently written using the write() method
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*
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* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
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* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
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*
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* The methods are:
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*
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* Servo - Class for manipulating servo motors connected to Arduino pins.
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*
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* attach(pin) - Attach a servo motor to an i/o pin.
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* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
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* Default min is 544, max is 2400
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*
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* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
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* writeMicroseconds() - Set the servo pulse width in microseconds.
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* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
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* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
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* read() - Get the last-written servo pulse width as an angle between 0 and 180.
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* readMicroseconds() - Get the last-written servo pulse width in microseconds.
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* attached() - Return true if a servo is attached.
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* detach() - Stop an attached servo from pulsing its i/o pin.
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*
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*/
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* Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
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* timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
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*/
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/**
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* The only time that this library wants physical movement is when a WRITE
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* command is issued. Before that all the attach & detach activity is solely
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* within the data base.
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* A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
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* The servos are pulsed in the background using the value most recently written using the write() method
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*
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* Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
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* Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
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*
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* The methods are:
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*
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* Servo - Class for manipulating servo motors connected to Arduino pins.
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*
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* The PWM output is inactive until the first WRITE. After that it stays active
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* unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued.
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* attach(pin) - Attach a servo motor to an i/o pin.
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* attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
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* Default min is 544, max is 2400
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*
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* write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
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* writeMicroseconds() - Set the servo pulse width in microseconds.
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* move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
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* With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
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* read() - Get the last-written servo pulse width as an angle between 0 and 180.
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* readMicroseconds() - Get the last-written servo pulse width in microseconds.
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* attached() - Return true if a servo is attached.
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* detach() - Stop an attached servo from pulsing its i/o pin.
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*
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*/
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#ifdef TARGET_LPC1768
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#if HAS_SERVOS
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/**
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* The only time that this library wants physical movement is when a WRITE
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* command is issued. Before that all the attach & detach activity is solely
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* within the data base.
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*
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* The PWM output is inactive until the first WRITE. After that it stays active
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* unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued.
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*/
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#include "../../../MarlinConfig.h"
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#include "LPC1768_Servo.h"
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#include "servo_private.h"
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#if HAS_SERVOS && defined(TARGET_LPC1768)
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#include "LPC1768_Servo.h"
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#include "servo_private.h"
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extern bool LPC1768_PWM_attach_pin(uint8_t, uint32_t, uint32_t, uint8_t);
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extern bool LPC1768_PWM_write(uint8_t, uint32_t);
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extern bool LPC1768_PWM_detach_pin(uint8_t);
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ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
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uint8_t ServoCount = 0; // the total number of attached servos
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#define US_TO_PULSE_WIDTH(p) p
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#define PULSE_WIDTH_TO_US(p) p
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#define TRIM_DURATION 0
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@ -107,7 +101,6 @@
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// greater than zero. This way the init routine can
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// assign the pin and the MOVE command only needs the value.
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this->min = MIN_PULSE_WIDTH; //resolution of min/max is 1 uS
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this->max = MAX_PULSE_WIDTH;
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@ -165,7 +158,4 @@
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}
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}
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#endif // HAS_SERVOS
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#endif // TARGET_LPC1768
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#endif // HAS_SERVOS && TARGET_LPC1768
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Scott Lahteine
7 years ago