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Fix multiple servos with STM32 (#16151)

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MangaValk 2019-12-11 08:44:05 +01:00 committed by Scott Lahteine
parent 31fdaea269
commit 96cf556139
3 changed files with 20 additions and 13 deletions
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23
Marlin/src/HAL/HAL_STM32/Servo.cpp
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@ -28,25 +28,30 @@
#include "Servo.h" #include "Servo.h"
uint8_t servoPin[MAX_SERVOS] = { 0 }; static uint_fast8_t servoCount = 0;
constexpr millis_t servoDelay[] = SERVO_DELAY;
static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
libServo::libServo()
: delay(servoDelay[servoCount++])
{}
int8_t libServo::attach(const int pin) { int8_t libServo::attach(const int pin) {
if (servoIndex >= MAX_SERVOS) return -1; if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servoPin[servoIndex] = pin; if (pin > 0) servo_pin = pin;
return super::attach(servoPin[servoIndex]); return super::attach(servo_pin);
} }
int8_t libServo::attach(const int pin, const int min, const int max) { int8_t libServo::attach(const int pin, const int min, const int max) {
if (pin > 0) servoPin[servoIndex] = pin; if (servoCount >= MAX_SERVOS) return -1;
return super::attach(servoPin[servoIndex], min, max); if (pin > 0) servo_pin = pin;
return super::attach(servo_pin, min, max);
} }
void libServo::move(const int value) { void libServo::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 (attach(0) >= 0) { if (attach(0) >= 0) {
write(value); write(value);
safe_delay(servo_delay[servoIndex]); safe_delay(delay);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
detach(); detach();
#endif #endif

6
Marlin/src/HAL/HAL_STM32/Servo.h
View file

@ -27,11 +27,13 @@
// Inherit and expand on the official library // Inherit and expand on the official library
class libServo : public Servo { class libServo : public Servo {
public: public:
libServo();
int8_t attach(const int pin); int8_t attach(const int pin);
int8_t attach(const int pin, const int min, const int max); int8_t attach(const int pin, const int min, const int max);
void move(const int value); void move(const int value);
private: private:
typedef Servo super; typedef Servo super;
uint16_t min_ticks, max_ticks;
uint8_t servoIndex; // index into the channel data for this servo int servo_pin = 0;
millis_t delay = 0;
}; };

4
buildroot/share/PlatformIO/variants/BIGTREE_SKR_PRO_1v1/variant.h
View file

@ -246,11 +246,11 @@ extern "C" {
// Timer Definitions // Timer Definitions
//Do not use timer used by PWM pins when possible. See PinMap_PWM in PeripheralPins.c //Do not use timer used by PWM pins when possible. See PinMap_PWM in PeripheralPins.c
#define TIMER_TONE TIM6 #define TIMER_TONE TIM2
#define TIMER_SERIAL TIM7 #define TIMER_SERIAL TIM7
// Do not use basic timer: OC is required // Do not use basic timer: OC is required
#define TIMER_SERVO TIM2 //TODO: advanced-control timers don't work #define TIMER_SERVO TIM6 //TODO: advanced-control timers don't work
// UART Definitions // UART Definitions
// Define here Serial instance number to map on Serial generic name // Define here Serial instance number to map on Serial generic name