ESP32 servo support (#14109)

Marlin/src/HAL/HAL_ESP32/HAL.h

@@ -75,6 +75,8 @@ extern portMUX_TYPE spinlock;
 
 typedef int16_t pin_t;
 
+#define HAL_SERVO_LIB Servo
+
 // --------------------------------------------------------------------------
 // Public Variables
 // --------------------------------------------------------------------------

Marlin/src/HAL/HAL_ESP32/HAL_Servo_ESP32.cpp

@@ -0,0 +1,69 @@
+/**
+ * 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"
+
+int Servo::channel_next_free = 0;
+
+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

Marlin/src/HAL/HAL_ESP32/HAL_Servo_ESP32.h

@@ -0,0 +1,49 @@
+/**
+ * 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/>.
+ *
+ */
+#pragma once
+
+#include <Arduino.h>
+
+class Servo {
+  static const int MIN_ANGLE =   0,
+                   MAX_ANGLE = 180,
+                   MIN_PULSE_WIDTH =  544,  // Shortest pulse sent to a servo
+                   MAX_PULSE_WIDTH = 2400,  // Longest pulse sent to a servo
+                   TAU_MSEC = 20,
+                   TAU_USEC = (TAU_MSEC * 1000),
+                   MAX_COMPARE = ((1 << 16) - 1), // 65535
+                   CHANNEL_MAX_NUM = 16;
+
+public:
+  Servo();
+  int8_t attach(const int pin);   // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
+  void detach();
+  void write(int degrees);        // set angle
+  void move(const int degrees);   // attach the servo, then move to value
+  int read();                     // returns current pulse width as an angle between 0 and 180 degrees
+
+private:
+  static int channel_next_free;
+  int channel;
+  int pin;
+  int degrees;
+};

Marlin/src/HAL/shared/servo.cpp

@@ -53,7 +53,7 @@
 
 #include "../../inc/MarlinConfig.h"
 
-#if HAS_SERVOS && !(IS_32BIT_TEENSY || defined(TARGET_LPC1768) || defined(STM32F1) || defined(STM32F1xx) || defined(STM32F4) || defined(STM32F4xx) || defined(STM32F7xx))
+#if HAS_SERVOS && !(IS_32BIT_TEENSY || defined(TARGET_LPC1768) || defined(STM32F1) || defined(STM32F1xx) || defined(STM32F4) || defined(STM32F4xx) || defined(STM32F7xx) || defined(ARDUINO_ARCH_ESP32))
 
 #include "servo.h"
 #include "servo_private.h"

Marlin/src/HAL/shared/servo.h

@@ -80,6 +80,8 @@
   #include "../HAL_STM32F4/HAL_Servo_STM32F4.h"
 #elif defined(ARDUINO_ARCH_STM32)
   #include "../HAL_STM32/HAL_Servo_STM32.h"
+#elif defined(ARDUINO_ARCH_ESP32)
+  #include "../HAL_ESP32/HAL_Servo_ESP32.h"
 #else
   #include <stdint.h>