SunRed/Marlin-Artillery-M600
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Change the name of servos[] and servo_t

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Scott Lahteine 2015-07-19 11:35:48 -07:00
parent 3b23ccd366
commit eacfe132aa
2 changed files with 11 additions and 11 deletions
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20
Marlin/servo.cpp
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@ -59,7 +59,7 @@
//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER) //#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER)
static servo_t servos[MAX_SERVOS]; // static array of servo structures static ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) 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 uint8_t ServoCount = 0; // the total number of attached servos
@ -69,7 +69,7 @@ uint8_t ServoCount = 0; // the total number
#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_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_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_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(_timer,_channel) (servo_info[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_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_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
@ -232,7 +232,7 @@ static boolean isTimerActive(timer16_Sequence_t timer) {
Servo::Servo() { Servo::Servo() {
if ( ServoCount < MAX_SERVOS) { if ( ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance this->servoIndex = ServoCount++; // assign a servo index to this instance
servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009 servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
} }
else else
this->servoIndex = INVALID_SERVO; // too many servos this->servoIndex = INVALID_SERVO; // too many servos
@ -246,8 +246,8 @@ int8_t Servo::attach(int pin, int min, int max) {
if (this->servoIndex >= MAX_SERVOS) return -1; if (this->servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servos[this->servoIndex].Pin.nbr = pin; if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin;
pinMode(servos[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
// todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128 // 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->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
@ -256,13 +256,13 @@ int8_t Servo::attach(int pin, int min, int max) {
// initialize the timer if it has not already been initialized // initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) initISR(timer); if (!isTimerActive(timer)) initISR(timer);
servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
return this->servoIndex; return this->servoIndex;
} }
void Servo::detach() { void Servo::detach() {
servos[this->servoIndex].Pin.isActive = false; servo_info[this->servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) finISR(timer); if (!isTimerActive(timer)) finISR(timer);
} }
@ -290,7 +290,7 @@ void Servo::writeMicroseconds(int value) {
uint8_t oldSREG = SREG; uint8_t oldSREG = SREG;
cli(); cli();
servos[channel].ticks = value; servo_info[channel].ticks = value;
SREG = oldSREG; SREG = oldSREG;
} }
} }
@ -299,10 +299,10 @@ void Servo::writeMicroseconds(int value) {
int Servo::read() { return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180); } int Servo::read() { return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::readMicroseconds() { int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION; return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;
} }
bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; } bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
int8_t Servo::move(int pin, int value) { int8_t Servo::move(int pin, int value) {
int8_t ret; int8_t ret;

2
Marlin/servo.h
View file

@ -112,7 +112,7 @@ typedef struct {
typedef struct { typedef struct {
ServoPin_t Pin; ServoPin_t Pin;
unsigned int ticks; unsigned int ticks;
} servo_t; } ServoInfo_t;
class Servo { class Servo {
public: public: