From 0b4aedf13eaf8455ba2b64a93614629fdef7b0e1 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 25 Sep 2019 08:29:59 -0500 Subject: [PATCH] Less use of "this" --- Marlin/src/HAL/HAL_ESP32/Servo.cpp | 28 ++++---- Marlin/src/HAL/HAL_LPC1768/Servo.h | 8 +-- Marlin/src/HAL/HAL_STM32/Servo.cpp | 18 ++--- Marlin/src/HAL/HAL_STM32F1/SPI.cpp | 75 +++++++++----------- Marlin/src/HAL/HAL_STM32F1/SPI.h | 40 +++++------ Marlin/src/HAL/HAL_STM32F1/Servo.cpp | 87 ++++++++++++------------ Marlin/src/HAL/HAL_STM32F1/Servo.h | 2 +- Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp | 14 ++-- Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp | 22 +++--- Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp | 43 +++++++++--- Marlin/src/HAL/shared/servo.cpp | 60 ++++++++-------- Marlin/src/feature/twibus.cpp | 48 ++++++------- Marlin/src/feature/twibus.h | 2 +- Marlin/src/libs/circularqueue.h | 46 +++++-------- 14 files changed, 245 insertions(+), 248 deletions(-) diff --git a/Marlin/src/HAL/HAL_ESP32/Servo.cpp b/Marlin/src/HAL/HAL_ESP32/Servo.cpp index c6be4b128..3c3b8fa70 100644 --- a/Marlin/src/HAL/HAL_ESP32/Servo.cpp +++ b/Marlin/src/HAL/HAL_ESP32/Servo.cpp @@ -32,25 +32,25 @@ int Servo::channel_next_free = 12; Servo::Servo() { - this->channel = channel_next_free++; + 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; +int8_t Servo::attach(const int inPin) { + if (channel >= CHANNEL_MAX_NUM) return -1; + if (pin > 0) pin = inPin; - ledcSetup(this->channel, 50, 16); // channel X, 50 Hz, 16-bit depth - ledcAttachPin(this->pin, this->channel); + ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth + ledcAttachPin(pin, channel); return true; } -void Servo::detach() { ledcDetachPin(this->pin); } +void Servo::detach() { ledcDetachPin(pin); } -int Servo::read() { return this->degrees; } +int Servo::read() { return degrees; } void Servo::write(int inDegrees) { - this->degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE); - int us = map(this->degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); + degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE); + int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE); ledcWrite(channel, duty); } @@ -58,11 +58,11 @@ void Servo::write(int inDegrees) { 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 (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[channel]); #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) - this->detach(); + detach(); #endif } } diff --git a/Marlin/src/HAL/HAL_LPC1768/Servo.h b/Marlin/src/HAL/HAL_LPC1768/Servo.h index 8b511032c..1bbf84c73 100644 --- a/Marlin/src/HAL/HAL_LPC1768/Servo.h +++ b/Marlin/src/HAL/HAL_LPC1768/Servo.h @@ -57,11 +57,11 @@ class libServo: public Servo { 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(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 (attach(servo_info[servoIndex].Pin.nbr) >= 0) { // try to reattach + write(value); + safe_delay(servo_delay[servoIndex]); // delay to allow servo to reach position #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) - this->detach(); + detach(); #endif } diff --git a/Marlin/src/HAL/HAL_STM32/Servo.cpp b/Marlin/src/HAL/HAL_STM32/Servo.cpp index 93154f784..2882f071a 100644 --- a/Marlin/src/HAL/HAL_STM32/Servo.cpp +++ b/Marlin/src/HAL/HAL_STM32/Servo.cpp @@ -31,24 +31,24 @@ uint8_t servoPin[MAX_SERVOS] = { 0 }; int8_t libServo::attach(const int pin) { - if (this->servoIndex >= MAX_SERVOS) return -1; - if (pin > 0) servoPin[this->servoIndex] = pin; - return Servo::attach(servoPin[this->servoIndex]); + if (servoIndex >= MAX_SERVOS) return -1; + if (pin > 0) servoPin[servoIndex] = pin; + return super::attach(servoPin[servoIndex]); } int8_t libServo::attach(const int pin, const int min, const int max) { - if (pin > 0) servoPin[this->servoIndex] = pin; - return Servo::attach(servoPin[this->servoIndex], min, max); + if (pin > 0) servoPin[servoIndex] = pin; + return super::attach(servoPin[servoIndex], min, max); } 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 (this->attach(0) >= 0) { - this->write(value); - safe_delay(servo_delay[this->servoIndex]); + if (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[servoIndex]); #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) - this->detach(); + detach(); #endif } } diff --git a/Marlin/src/HAL/HAL_STM32F1/SPI.cpp b/Marlin/src/HAL/HAL_STM32F1/SPI.cpp index bc10824c8..101b42a53 100644 --- a/Marlin/src/HAL/HAL_STM32F1/SPI.cpp +++ b/Marlin/src/HAL/HAL_STM32F1/SPI.cpp @@ -213,31 +213,31 @@ void SPIClass::setDataSize(uint32_t datasize) { } void SPIClass::setDataMode(uint8_t dataMode) { - /* - Notes: - As far as we know the AVR numbers for dataMode match the numbers required by the STM32. - From the AVR doc http://www.atmel.com/images/doc2585.pdf section 2.4 - - SPI Mode CPOL CPHA Shift SCK-edge Capture SCK-edge - 0 0 0 Falling Rising - 1 0 1 Rising Falling - 2 1 0 Rising Falling - 3 1 1 Falling Rising - - On the STM32 it appears to be - - bit 1 - CPOL : Clock polarity - (This bit should not be changed when communication is ongoing) - 0 : CLK to 0 when idle - 1 : CLK to 1 when idle - - bit 0 - CPHA : Clock phase - (This bit should not be changed when communication is ongoing) - 0 : The first clock transition is the first data capture edge - 1 : The second clock transition is the first data capture edge - - If someone finds this is not the case or sees a logic error with this let me know ;-) - */ + /** + * Notes: + * As far as we know the AVR numbers for dataMode match the numbers required by the STM32. + * From the AVR doc http://www.atmel.com/images/doc2585.pdf section 2.4 + * + * SPI Mode CPOL CPHA Shift SCK-edge Capture SCK-edge + * 0 0 0 Falling Rising + * 1 0 1 Rising Falling + * 2 1 0 Rising Falling + * 3 1 1 Falling Rising + * + * On the STM32 it appears to be + * + * bit 1 - CPOL : Clock polarity + * (This bit should not be changed when communication is ongoing) + * 0 : CLK to 0 when idle + * 1 : CLK to 1 when idle + * + * bit 0 - CPHA : Clock phase + * (This bit should not be changed when communication is ongoing) + * 0 : The first clock transition is the first data capture edge + * 1 : The second clock transition is the first data capture edge + * + * If someone finds this is not the case or sees a logic error with this let me know ;-) + */ _currentSetting->dataMode = dataMode; uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_CPOL|SPI_CR1_CPHA); _currentSetting->spi_d->regs->CR1 = cr1 | (dataMode & (SPI_CR1_CPOL|SPI_CR1_CPHA)); @@ -593,7 +593,7 @@ void SPIClass::detachInterrupt() { // Should be disableInterrupt() } -/* +/** * Pin accessors */ @@ -613,25 +613,14 @@ uint8_t SPIClass::nssPin() { return dev_to_spi_pins(_currentSetting->spi_d)->nss; } -/* +/** * Deprecated functions */ +uint8_t SPIClass::send(uint8_t data) { write(data); return 1; } +uint8_t SPIClass::send(uint8_t *buf, uint32_t len) { write(buf, len); return len; } +uint8_t SPIClass::recv() { return read(); } -uint8_t SPIClass::send(uint8_t data) { - this->write(data); - return 1; -} - -uint8_t SPIClass::send(uint8_t *buf, uint32_t len) { - this->write(buf, len); - return len; -} - -uint8_t SPIClass::recv() { - return this->read(); -} - -/* +/** * DMA call back functions, one per port. */ #if BOARD_NR_SPI >= 1 @@ -650,7 +639,7 @@ uint8_t SPIClass::recv() { } #endif -/* +/** * Auxiliary functions */ static const spi_pins* dev_to_spi_pins(spi_dev *dev) { diff --git a/Marlin/src/HAL/HAL_STM32F1/SPI.h b/Marlin/src/HAL/HAL_STM32F1/SPI.h index 20f22431f..0162ac13b 100644 --- a/Marlin/src/HAL/HAL_STM32F1/SPI.h +++ b/Marlin/src/HAL/HAL_STM32F1/SPI.h @@ -96,36 +96,36 @@ typedef enum { class SPISettings { public: - SPISettings(uint32_t clock, BitOrder bitOrder, uint8_t dataMode) { - if (__builtin_constant_p(clock)) - init_AlwaysInline(clock, bitOrder, dataMode, DATA_SIZE_8BIT); + SPISettings(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode) { + if (__builtin_constant_p(inClock)) + init_AlwaysInline(inClock, inBitOrder, inDataMode, DATA_SIZE_8BIT); else - init_MightInline(clock, bitOrder, dataMode, DATA_SIZE_8BIT); + init_MightInline(inClock, inBitOrder, inDataMode, DATA_SIZE_8BIT); } - SPISettings(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) { - if (__builtin_constant_p(clock)) - init_AlwaysInline(clock, bitOrder, dataMode, dataSize); + SPISettings(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) { + if (__builtin_constant_p(inClock)) + init_AlwaysInline(inClock, inBitOrder, inDataMode, inDataSize); else - init_MightInline(clock, bitOrder, dataMode, dataSize); + init_MightInline(inClock, inBitOrder, inDataMode, inDataSize); } - SPISettings(uint32_t clock) { - if (__builtin_constant_p(clock)) - init_AlwaysInline(clock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT); + SPISettings(uint32_t inClock) { + if (__builtin_constant_p(inClock)) + init_AlwaysInline(inClock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT); else - init_MightInline(clock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT); + init_MightInline(inClock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT); } SPISettings() { init_AlwaysInline(4000000, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT); } private: - void init_MightInline(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) { - init_AlwaysInline(clock, bitOrder, dataMode, dataSize); + void init_MightInline(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) { + init_AlwaysInline(inClock, inBitOrder, inDataMode, inDataSize); } - void init_AlwaysInline(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) __attribute__((__always_inline__)) { - this->clock = clock; - this->bitOrder = bitOrder; - this->dataMode = dataMode; - this->dataSize = dataSize; + void init_AlwaysInline(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) __attribute__((__always_inline__)) { + clock = inClock; + bitOrder = inBitOrder; + dataMode = inDataMode; + dataSize = inDataSize; } uint32_t clock; uint32_t dataSize; @@ -339,7 +339,7 @@ public: * or 1-3 in high density devices. */ void setModule(int spi_num) { - _currentSetting=&_settings[spi_num-1];// SPI channels are called 1 2 and 3 but the array is zero indexed + _currentSetting = &_settings[spi_num - 1];// SPI channels are called 1 2 and 3 but the array is zero indexed } /* -- The following methods are deprecated --------------------------- */ diff --git a/Marlin/src/HAL/HAL_STM32F1/Servo.cpp b/Marlin/src/HAL/HAL_STM32F1/Servo.cpp index 9db978637..5dc216915 100644 --- a/Marlin/src/HAL/HAL_STM32F1/Servo.cpp +++ b/Marlin/src/HAL/HAL_STM32F1/Servo.cpp @@ -56,52 +56,50 @@ uint8_t ServoCount = 0; #define SERVO_OVERFLOW ((uint16_t)round((double)TAU_CYC / SERVO_PRESCALER)) // Unit conversions -#define US_TO_COMPARE(us) ((uint16_t)map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW)) -#define COMPARE_TO_US(c) ((uint32_t)map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC)) -#define ANGLE_TO_US(a) ((uint16_t)(map((a), this->minAngle, this->maxAngle, \ - SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW))) -#define US_TO_ANGLE(us) ((int16_t)(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, \ - this->minAngle, this->maxAngle))) +#define US_TO_COMPARE(us) uint16_t(map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW)) +#define COMPARE_TO_US(c) uint32_t(map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC)) +#define ANGLE_TO_US(a) uint16_t(map((a), minAngle, maxAngle, SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW)) +#define US_TO_ANGLE(us) int16_t(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, minAngle, maxAngle)) -void libServo::servoWrite(uint8_t pin, uint16_t duty_cycle) { +void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) { #ifdef SERVO0_TIMER_NUM - if (this->servoIndex == 0) { - this->pwmSetDuty(duty_cycle); + if (servoIndex == 0) { + pwmSetDuty(duty_cycle); return; } #endif - timer_dev *tdev = PIN_MAP[pin].timer_device; - uint8_t tchan = PIN_MAP[pin].timer_channel; + timer_dev *tdev = PIN_MAP[inPin].timer_device; + uint8_t tchan = PIN_MAP[inPin].timer_channel; if (tdev) timer_set_compare(tdev, tchan, duty_cycle); } libServo::libServo() { - this->servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO; + servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO; } -bool libServo::attach(const int32_t pin, const int32_t minAngle, const int32_t maxAngle) { - if (this->servoIndex >= MAX_SERVOS) return false; - if (pin >= BOARD_NR_GPIO_PINS) return false; +bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32_t inMaxAngle) { + if (servoIndex >= MAX_SERVOS) return false; + if (inPin >= BOARD_NR_GPIO_PINS) return false; - this->minAngle = minAngle; - this->maxAngle = maxAngle; - this->angle = -1; + minAngle = inMinAngle; + maxAngle = inMaxAngle; + angle = -1; #ifdef SERVO0_TIMER_NUM - if (this->servoIndex == 0 && this->setupSoftPWM(pin)) { - this->pin = pin; // set attached() + if (servoIndex == 0 && setupSoftPWM(inPin)) { + pin = inPin; // set attached() return true; } #endif - if (!PWM_PIN(pin)) return false; + if (!PWM_PIN(inPin)) return false; - timer_dev *tdev = PIN_MAP[pin].timer_device; - //uint8_t tchan = PIN_MAP[pin].timer_channel; + timer_dev *tdev = PIN_MAP[inPin].timer_device; + //uint8_t tchan = PIN_MAP[inPin].timer_channel; - SET_PWM(pin); - servoWrite(pin, 0); + SET_PWM(inPin); + servoWrite(inPin, 0); timer_pause(tdev); timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based @@ -109,25 +107,24 @@ bool libServo::attach(const int32_t pin, const int32_t minAngle, const int32_t m timer_generate_update(tdev); timer_resume(tdev); - this->pin = pin; // set attached() - + pin = inPin; // set attached() return true; } bool libServo::detach() { - if (!this->attached()) return false; - this->angle = -1; - servoWrite(this->pin, 0); + if (!attached()) return false; + angle = -1; + servoWrite(pin, 0); return true; } int32_t libServo::read() const { - if (this->attached()) { + if (attached()) { #ifdef SERVO0_TIMER_NUM - if (this->servoIndex == 0) return this->angle; + if (servoIndex == 0) return angle; #endif - timer_dev *tdev = PIN_MAP[this->pin].timer_device; - uint8_t tchan = PIN_MAP[this->pin].timer_channel; + timer_dev *tdev = PIN_MAP[pin].timer_device; + uint8_t tchan = PIN_MAP[pin].timer_channel; return US_TO_ANGLE(COMPARE_TO_US(timer_get_compare(tdev, tchan))); } return 0; @@ -137,12 +134,12 @@ void libServo::move(const int32_t 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->attached()) { - this->angle = constrain(value, this->minAngle, this->maxAngle); - servoWrite(this->pin, US_TO_COMPARE(ANGLE_TO_US(this->angle))); - safe_delay(servo_delay[this->servoIndex]); + if (attached()) { + angle = constrain(value, minAngle, maxAngle); + servoWrite(pin, US_TO_COMPARE(ANGLE_TO_US(angle))); + safe_delay(servo_delay[servoIndex]); #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) - this->detach(); + detach(); #endif } } @@ -169,13 +166,13 @@ void libServo::move(const int32_t value) { } } - bool libServo::setupSoftPWM(const int32_t pin) { + bool libServo::setupSoftPWM(const int32_t inPin) { timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM); if (!tdev) return false; #ifdef SERVO0_PWM_OD - OUT_WRITE_OD(pin, 1); + OUT_WRITE_OD(inPin, 1); #else - OUT_WRITE(pin, 0); + OUT_WRITE(inPin, 0); #endif timer_pause(tdev); @@ -206,9 +203,9 @@ void libServo::move(const int32_t value) { timer_disable_irq(tdev, 1); timer_disable_irq(tdev, 2); #ifdef SERVO0_PWM_OD - OUT_WRITE_OD(this->pin, 1); // off + OUT_WRITE_OD(pin, 1); // off #else - OUT_WRITE(this->pin, 0); + OUT_WRITE(pin, 0); #endif } } @@ -221,7 +218,7 @@ void libServo::move(const int32_t value) { #else - bool libServo::setupSoftPWM(const int32_t pin) { return false; } + bool libServo::setupSoftPWM(const int32_t inPin) { return false; } void libServo::pwmSetDuty(const uint16_t duty_cycle) {} void libServo::pauseSoftPWM() {} diff --git a/Marlin/src/HAL/HAL_STM32F1/Servo.h b/Marlin/src/HAL/HAL_STM32F1/Servo.h index f97ca7486..92f4dd678 100644 --- a/Marlin/src/HAL/HAL_STM32F1/Servo.h +++ b/Marlin/src/HAL/HAL_STM32F1/Servo.h @@ -41,7 +41,7 @@ class libServo { public: libServo(); bool attach(const int32_t pin, const int32_t minAngle=SERVO_DEFAULT_MIN_ANGLE, const int32_t maxAngle=SERVO_DEFAULT_MAX_ANGLE); - bool attached() const { return this->pin != NOT_ATTACHED; } + bool attached() const { return pin != NOT_ATTACHED; } bool detach(); void move(const int32_t value); int32_t read() const; diff --git a/Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp b/Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp index 736ddd45e..b3aac7761 100644 --- a/Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp +++ b/Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp @@ -30,22 +30,22 @@ #include "Servo.h" int8_t libServo::attach(const int pin) { - if (this->servoIndex >= MAX_SERVOS) return -1; - return Servo::attach(pin); + if (servoIndex >= MAX_SERVOS) return -1; + return super::attach(pin); } int8_t libServo::attach(const int pin, const int min, const int max) { - return Servo::attach(pin, min, max); + return super::attach(pin, min, max); } 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 (this->attach(0) >= 0) { - this->write(value); - safe_delay(servo_delay[this->servoIndex]); + if (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[servoIndex]); #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) - this->detach(); + detach(); #endif } } diff --git a/Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp b/Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp index 7af900b14..6451f6b17 100644 --- a/Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp +++ b/Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp @@ -29,25 +29,25 @@ uint8_t servoPin[MAX_SERVOS] = { 0 }; -int8_t libServo::attach(const int pin) { - if (this->servoIndex >= MAX_SERVOS) return -1; - if (pin > 0) servoPin[this->servoIndex] = pin; - return Servo::attach(servoPin[this->servoIndex]); +int8_t libServo::attach(const int inPin) { + if (servoIndex >= MAX_SERVOS) return -1; + if (inPin > 0) servoPin[servoIndex] = inPin; + return super::attach(servoPin[servoIndex]); } -int8_t libServo::attach(const int pin, const int min, const int max) { - if (pin > 0) servoPin[this->servoIndex] = pin; - return Servo::attach(servoPin[this->servoIndex], min, max); +int8_t libServo::attach(const int inPin, const int inMin, const int inMax) { + if (inPin > 0) servoPin[servoIndex] = inPin; + return super::attach(servoPin[servoIndex], inMin, inMax); } 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 (this->attach(0) >= 0) { - this->write(value); - safe_delay(servo_delay[this->servoIndex]); + if (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[servoIndex]); #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) - this->detach(); + detach(); #endif } } diff --git a/Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp b/Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp index faf72e9d1..d376b80a7 100644 --- a/Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp +++ b/Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp @@ -1,3 +1,24 @@ +/** + * 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 . + * + */ #if defined(__MK64FX512__) || defined(__MK66FX1M0__) #include "../../inc/MarlinConfig.h" @@ -8,25 +29,25 @@ uint8_t servoPin[MAX_SERVOS] = { 0 }; -int8_t libServo::attach(const int pin) { - if (this->servoIndex >= MAX_SERVOS) return -1; - if (pin > 0) servoPin[this->servoIndex] = pin; - return Servo::attach(servoPin[this->servoIndex]); +int8_t libServo::attach(const int inPin) { + if (servoIndex >= MAX_SERVOS) return -1; + if (inPin > 0) servoPin[servoIndex] = inPin; + return super::attach(servoPin[servoIndex]); } -int8_t libServo::attach(const int pin, const int min, const int max) { - if (pin > 0) servoPin[this->servoIndex] = pin; - return Servo::attach(servoPin[this->servoIndex], min, max); +int8_t libServo::attach(const int inPin, const int inMin, const int inMax) { + if (inPin > 0) servoPin[servoIndex] = inPin; + return super::attach(servoPin[servoIndex], inMin, inMax); } 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 (this->attach(0) >= 0) { - this->write(value); - safe_delay(servo_delay[this->servoIndex]); + if (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[servoIndex]); #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) - this->detach(); + detach(); #endif } } diff --git a/Marlin/src/HAL/shared/servo.cpp b/Marlin/src/HAL/shared/servo.cpp index 22cf6bc88..b5975e58e 100644 --- a/Marlin/src/HAL/shared/servo.cpp +++ b/Marlin/src/HAL/shared/servo.cpp @@ -58,11 +58,11 @@ #include "servo.h" #include "servo_private.h" -ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures -uint8_t ServoCount = 0; // the total number of attached servos +ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures +uint8_t ServoCount = 0; // the total number of attached servos -#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 +#define SERVO_MIN(v) (MIN_PULSE_WIDTH - (v) * 4) // minimum value in uS for this servo +#define SERVO_MAX(v) (MAX_PULSE_WIDTH - (v) * 4) // maximum value in uS for this servo /************ static functions common to all instances ***********************/ @@ -79,54 +79,54 @@ static boolean isTimerActive(timer16_Sequence_t timer) { Servo::Servo() { if (ServoCount < MAX_SERVOS) { - this->servoIndex = ServoCount++; // assign a servo index to this instance - servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009 + servoIndex = ServoCount++; // assign a servo index to this instance + servo_info[servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009 } else - this->servoIndex = INVALID_SERVO; // too many servos + servoIndex = INVALID_SERVO; // too many servos } -int8_t Servo::attach(const int pin) { - return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); +int8_t Servo::attach(const int inPin) { + return attach(inPin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); } -int8_t Servo::attach(const int pin, const int min, const int max) { +int8_t Servo::attach(const int inPin, const int inMin, const int inMax) { - if (this->servoIndex >= MAX_SERVOS) return -1; + if (servoIndex >= MAX_SERVOS) return -1; - if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin; - pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output + if (inPin > 0) servo_info[servoIndex].Pin.nbr = inPin; + pinMode(servo_info[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; + // TODO: min/max check: ABS(min - MIN_PULSE_WIDTH) / 4 < 128 + min = (MIN_PULSE_WIDTH - inMin) / 4; //resolution of min/max is 4 uS + max = (MAX_PULSE_WIDTH - inMax) / 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); - servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive + servo_info[servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive - return this->servoIndex; + return servoIndex; } void Servo::detach() { - servo_info[this->servoIndex].Pin.isActive = false; + servo_info[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); + value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(min), SERVO_MAX(max)); + writeMicroseconds(value); } void Servo::writeMicroseconds(int value) { // calculate and store the values for the given channel - byte channel = this->servoIndex; + byte channel = servoIndex; if (channel < MAX_SERVOS) { // ensure channel is valid // ensure pulse width is valid - value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION); + value = constrain(value, SERVO_MIN(min), SERVO_MAX(max)) - (TRIM_DURATION); value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009 CRITICAL_SECTION_START; @@ -136,22 +136,22 @@ void Servo::writeMicroseconds(int value) { } // return the value as degrees -int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); } +int Servo::read() { return map(readMicroseconds() + 1, SERVO_MIN(min), SERVO_MAX(max), 0, 180); } int Servo::readMicroseconds() { - return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + (TRIM_DURATION); + return (servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[servoIndex].ticks) + (TRIM_DURATION); } -bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; } +bool Servo::attached() { return servo_info[servoIndex].Pin.isActive; } 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->servoIndex]); + if (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[servoIndex]); #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE) - this->detach(); + detach(); #endif } } diff --git a/Marlin/src/feature/twibus.cpp b/Marlin/src/feature/twibus.cpp index ccd778120..f4fe512cd 100644 --- a/Marlin/src/feature/twibus.cpp +++ b/Marlin/src/feature/twibus.cpp @@ -34,12 +34,12 @@ TWIBus::TWIBus() { #else Wire.begin(I2C_SLAVE_ADDRESS); // Join the bus as a slave #endif - this->reset(); + reset(); } void TWIBus::reset() { - this->buffer_s = 0; - this->buffer[0] = 0x00; + buffer_s = 0; + buffer[0] = 0x00; } void TWIBus::address(const uint8_t adr) { @@ -47,7 +47,7 @@ void TWIBus::address(const uint8_t adr) { SERIAL_ECHO_MSG("Bad I2C address (8-127)"); } - this->addr = adr; + addr = adr; #if ENABLED(DEBUG_TWIBUS) debug(PSTR("address"), adr); @@ -55,8 +55,8 @@ void TWIBus::address(const uint8_t adr) { } void TWIBus::addbyte(const char c) { - if (this->buffer_s >= COUNT(this->buffer)) return; - this->buffer[this->buffer_s++] = c; + if (buffer_s >= COUNT(buffer)) return; + buffer[buffer_s++] = c; #if ENABLED(DEBUG_TWIBUS) debug(PSTR("addbyte"), c); #endif @@ -66,26 +66,26 @@ void TWIBus::addbytes(char src[], uint8_t bytes) { #if ENABLED(DEBUG_TWIBUS) debug(PSTR("addbytes"), bytes); #endif - while (bytes--) this->addbyte(*src++); + while (bytes--) addbyte(*src++); } void TWIBus::addstring(char str[]) { #if ENABLED(DEBUG_TWIBUS) debug(PSTR("addstring"), str); #endif - while (char c = *str++) this->addbyte(c); + while (char c = *str++) addbyte(c); } void TWIBus::send() { #if ENABLED(DEBUG_TWIBUS) - debug(PSTR("send"), this->addr); + debug(PSTR("send"), addr); #endif - Wire.beginTransmission(I2C_ADDRESS(this->addr)); - Wire.write(this->buffer, this->buffer_s); + Wire.beginTransmission(I2C_ADDRESS(addr)); + Wire.write(buffer, buffer_s); Wire.endTransmission(); - this->reset(); + reset(); } // static @@ -103,22 +103,22 @@ void TWIBus::echodata(uint8_t bytes, const char prefix[], uint8_t adr) { } void TWIBus::echobuffer(const char prefix[], uint8_t adr) { - echoprefix(this->buffer_s, prefix, adr); - for (uint8_t i = 0; i < this->buffer_s; i++) SERIAL_CHAR(this->buffer[i]); + echoprefix(buffer_s, prefix, adr); + for (uint8_t i = 0; i < buffer_s; i++) SERIAL_CHAR(buffer[i]); SERIAL_EOL(); } bool TWIBus::request(const uint8_t bytes) { - if (!this->addr) return false; + if (!addr) return false; #if ENABLED(DEBUG_TWIBUS) debug(PSTR("request"), bytes); #endif // requestFrom() is a blocking function - if (Wire.requestFrom(this->addr, bytes) == 0) { + if (Wire.requestFrom(addr, bytes) == 0) { #if ENABLED(DEBUG_TWIBUS) - debug("request fail", this->addr); + debug("request fail", addr); #endif return false; } @@ -131,12 +131,12 @@ void TWIBus::relay(const uint8_t bytes) { debug(PSTR("relay"), bytes); #endif - if (this->request(bytes)) - echodata(bytes, PSTR("i2c-reply"), this->addr); + if (request(bytes)) + echodata(bytes, PSTR("i2c-reply"), addr); } uint8_t TWIBus::capture(char *dst, const uint8_t bytes) { - this->reset(); + reset(); uint8_t count = 0; while (count < bytes && Wire.available()) dst[count++] = Wire.read(); @@ -168,13 +168,13 @@ void TWIBus::flush() { #endif if (str) { - this->reset(); - this->addstring(str); + reset(); + addstring(str); } - Wire.write(this->buffer, this->buffer_s); + Wire.write(buffer, buffer_s); - this->reset(); + reset(); } #endif diff --git a/Marlin/src/feature/twibus.h b/Marlin/src/feature/twibus.h index 1e2f14cfc..cc4047637 100644 --- a/Marlin/src/feature/twibus.h +++ b/Marlin/src/feature/twibus.h @@ -218,7 +218,7 @@ class TWIBus { * If a string is passed, write it into the buffer first. */ void reply(char str[]=nullptr); - inline void reply(const char str[]) { this->reply((char*)str); } + inline void reply(const char str[]) { reply((char*)str); } #endif diff --git a/Marlin/src/libs/circularqueue.h b/Marlin/src/libs/circularqueue.h index 479e90dab..6b1923986 100644 --- a/Marlin/src/libs/circularqueue.h +++ b/Marlin/src/libs/circularqueue.h @@ -52,8 +52,8 @@ class CircularQueue { * items that can be stored on the queue. */ CircularQueue() { - this->buffer.size = N; - this->buffer.count = this->buffer.head = this->buffer.tail = 0; + buffer.size = N; + buffer.count = buffer.head = buffer.tail = 0; } /** @@ -63,15 +63,15 @@ class CircularQueue { * @return type T item */ T dequeue() { - if (this->isEmpty()) return T(); + if (isEmpty()) return T(); - uint8_t index = this->buffer.head; + uint8_t index = buffer.head; - --this->buffer.count; - if (++this->buffer.head == this->buffer.size) - this->buffer.head = 0; + --buffer.count; + if (++buffer.head == buffer.size) + buffer.head = 0; - return this->buffer.queue[index]; + return buffer.queue[index]; } /** @@ -82,13 +82,13 @@ class CircularQueue { * @return true if the operation was successful */ bool enqueue(T const &item) { - if (this->isFull()) return false; + if (isFull()) return false; - this->buffer.queue[this->buffer.tail] = item; + buffer.queue[buffer.tail] = item; - ++this->buffer.count; - if (++this->buffer.tail == this->buffer.size) - this->buffer.tail = 0; + ++buffer.count; + if (++buffer.tail == buffer.size) + buffer.tail = 0; return true; } @@ -98,27 +98,21 @@ class CircularQueue { * @details Returns true if there are no items on the queue, false otherwise. * @return true if queue is empty */ - bool isEmpty() { - return this->buffer.count == 0; - } + bool isEmpty() { return buffer.count == 0; } /** * @brief Checks if the queue is full * @details Returns true if the queue is full, false otherwise. * @return true if queue is full */ - bool isFull() { - return this->buffer.count == this->buffer.size; - } + bool isFull() { return buffer.count == buffer.size; } /** * @brief Gets the queue size * @details Returns the maximum number of items a queue can have. * @return the queue size */ - uint8_t size() { - return this->buffer.size; - } + uint8_t size() { return buffer.size; } /** * @brief Gets the next item from the queue without removing it @@ -126,16 +120,12 @@ class CircularQueue { * or updating the pointers. * @return first item in the queue */ - T peek() { - return this->buffer.queue[this->buffer.head]; - } + T peek() { return buffer.queue[buffer.head]; } /** * @brief Gets the number of items on the queue * @details Returns the current number of items stored on the queue. * @return number of items in the queue */ - uint8_t count() { - return this->buffer.count; - } + uint8_t count() { return buffer.count; } };