ESP32 servo support (#14109)

This commit is contained in:
felixstorm 2019-05-26 01:12:24 +02:00 committed by Scott Lahteine
parent bc5a1fe562
commit 74f44783ac
5 changed files with 123 additions and 1 deletions

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

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@ -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

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@ -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;
};

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@ -53,7 +53,7 @@
#include "../../inc/MarlinConfig.h" #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.h"
#include "servo_private.h" #include "servo_private.h"

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