/** * MK & MK4due 3D Printer Firmware * * Based on Marlin, Sprinter and grbl * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * Copyright (C) 2013 - 2016 Alberto Cotronei @MagoKimbra * * 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/>. * */ /** * Copyright (c) 2013 Arduino LLC. All right reserved. * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library 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 * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #include "../../base.h" #if HAS(SERVOS) #include "servo.h" #define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009 #define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds #define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays static servo_t servos[MAX_SERVOS]; // static array of servo structures static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) uint8_t ServoCount = 0; // the total number of attached servos // convenience macros #define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo #define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer #define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel #define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel #define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo #define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo /************ static functions common to all instances ***********************/ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA) { if( Channel[timer] < 0 ) *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer else{ if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true ) digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated } Channel[timer]++; // increment to the next channel if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks; if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high } else { // finished all channels so wait for the refresh period to expire before starting over if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL); else *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel } } #ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform // Interrupt handlers for Arduino #if defined(_useTimer1) SIGNAL (TIMER1_COMPA_vect) { handle_interrupts(_timer1, &TCNT1, &OCR1A); } #endif #if defined(_useTimer3) SIGNAL (TIMER3_COMPA_vect) { handle_interrupts(_timer3, &TCNT3, &OCR3A); } #endif #if defined(_useTimer4) SIGNAL (TIMER4_COMPA_vect) { handle_interrupts(_timer4, &TCNT4, &OCR4A); } #endif #if defined(_useTimer5) SIGNAL (TIMER5_COMPA_vect) { handle_interrupts(_timer5, &TCNT5, &OCR5A); } #endif #elif defined WIRING // Interrupt handlers for Wiring #if defined(_useTimer1) void Timer1Service() { handle_interrupts(_timer1, &TCNT1, &OCR1A); } #endif #if defined(_useTimer3) void Timer3Service() { handle_interrupts(_timer3, &TCNT3, &OCR3A); } #endif #endif static void initISR(timer16_Sequence_t timer) { #if defined (_useTimer1) if(timer == _timer1) { TCCR1A = 0; // normal counting mode TCCR1B = _BV(CS11); // set prescaler of 8 TCNT1 = 0; // clear the timer count #if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__) TIFR |= _BV(OCF1A); // clear any pending interrupts; TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt #else // here if not ATmega8 or ATmega128 TIFR1 |= _BV(OCF1A); // clear any pending interrupts; TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt #endif #if defined(WIRING) timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); #endif } #endif #if defined (_useTimer3) if(timer == _timer3) { TCCR3A = 0; // normal counting mode TCCR3B = _BV(CS31); // set prescaler of 8 TCNT3 = 0; // clear the timer count #if defined(__AVR_ATmega128__) TIFR |= _BV(OCF3A); // clear any pending interrupts; ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt #else TIFR3 = _BV(OCF3A); // clear any pending interrupts; TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt #endif #if defined(WIRING) timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only #endif } #endif #if defined (_useTimer4) if(timer == _timer4) { TCCR4A = 0; // normal counting mode TCCR4B = _BV(CS41); // set prescaler of 8 TCNT4 = 0; // clear the timer count TIFR4 = _BV(OCF4A); // clear any pending interrupts; TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt } #endif #if defined (_useTimer5) if(timer == _timer5) { TCCR5A = 0; // normal counting mode TCCR5B = _BV(CS51); // set prescaler of 8 TCNT5 = 0; // clear the timer count TIFR5 = _BV(OCF5A); // clear any pending interrupts; TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt } #endif } static void finISR(timer16_Sequence_t timer) { //disable use of the given timer #if defined WIRING // Wiring if(timer == _timer1) { #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__) TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt #else TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt #endif timerDetach(TIMER1OUTCOMPAREA_INT); } else if(timer == _timer3) { #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__) TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt #else ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt #endif timerDetach(TIMER3OUTCOMPAREA_INT); } #else //For arduino - in future: call here to a currently undefined function to reset the timer #endif } static boolean isTimerActive(timer16_Sequence_t timer) { // returns true if any servo is active on this timer for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) { if(SERVO(timer,channel).Pin.isActive == true) return true; } return false; } /****************** end of static functions ******************************/ Servo::Servo() { if (ServoCount < MAX_SERVOS) { this->servoIndex = ServoCount++; // assign a servo index to this instance servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values } else { this->servoIndex = INVALID_SERVO; // too many servos } } uint8_t Servo::attach(int pin) { return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); } uint8_t Servo::attach(int pin, int min, int max) { if (this->servoIndex >= MAX_SERVOS) return -1; if (pin > 0) servos[this->servoIndex].Pin.nbr = pin; pinMode(servos[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128 this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS this->max = (MAX_PULSE_WIDTH - max) / 4; // initialize the timer if it has not already been initialized timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); if (!isTimerActive(timer)) initISR(timer); servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive return this->servoIndex; } void Servo::detach() { servos[this->servoIndex].Pin.isActive = false; timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); if (!isTimerActive(timer)) finISR(timer); } void Servo::write(int value) { if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds) value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX()); } this->writeMicroseconds(value); } void Servo::writeMicroseconds(int value) { // calculate and store the values for the given channel byte channel = this->servoIndex; if (channel < MAX_SERVOS) { // ensure channel is valid // ensure pulse width is valid value = constrain(value, SERVO_MIN(), SERVO_MAX()) - TRIM_DURATION; value = usToTicks(value); // convert to ticks after compensating for interrupt overhead CRITICAL_SECTION_START; servos[channel].ticks = value; CRITICAL_SECTION_END; } } // return the value as degrees int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); } int Servo::readMicroseconds() { return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION; } bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; } void Servo::move(int value) { if (this->attach(0) >= 0) { this->write(value); #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) delay(SERVO_DEACTIVATION_DELAY); this->detach(); #endif } } #endif