From 0dc59311ec3ccbeb0643a3384adec7bb24496d18 Mon Sep 17 00:00:00 2001 From: InsanityAutomation <38436470+InsanityAutomation@users.noreply.github.com> Date: Tue, 21 Jun 2022 22:09:24 -0400 Subject: [PATCH] =?UTF-8?q?=F0=9F=90=9B=20Resolve=20DUE=20Servo=20pulse=20?= =?UTF-8?q?issue=20(#24305)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: sjasonsmith <20053467+sjasonsmith@users.noreply.github.com> Co-authored-by: Scott Lahteine --- Marlin/src/HAL/AVR/Servo.cpp | 200 ++++++++++++++------------ Marlin/src/HAL/DUE/Servo.cpp | 129 +++++++++-------- Marlin/src/HAL/DUE/ServoTimers.h | 2 +- Marlin/src/HAL/DUE/timers.cpp | 11 +- Marlin/src/HAL/DUE/timers.h | 3 +- Marlin/src/HAL/SAMD51/Servo.cpp | 43 +++--- Marlin/src/HAL/shared/servo_private.h | 4 +- Marlin/src/core/serial.cpp | 4 +- Marlin/src/core/types.h | 8 +- 9 files changed, 212 insertions(+), 192 deletions(-) diff --git a/Marlin/src/HAL/AVR/Servo.cpp b/Marlin/src/HAL/AVR/Servo.cpp index 6dc1e2fb07..0a1ef5337a 100644 --- a/Marlin/src/HAL/AVR/Servo.cpp +++ b/Marlin/src/HAL/AVR/Servo.cpp @@ -67,26 +67,25 @@ static volatile int8_t Channel[_Nbr_16timers]; // counter for the s /************ static functions common to all instances ***********************/ static inline void handle_interrupts(const timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) { - if (Channel[timer] < 0) - *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer - else { - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive) - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated - } - - Channel[timer]++; // increment to the next channel - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { - *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks; - if (SERVO(timer, Channel[timer]).Pin.isActive) // check if activated - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high + int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first + if (cho < 0) // Channel -1 indicates the refresh interval completed... + *TCNTn = 0; // ...so reset the timer + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW + + Channel[timer] = ++cho; // Handle the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + *OCRnA = *TCNTn + SERVO(timer, cho).ticks; // set compare to current ticks plus duration + if (SERVO(timer, cho).Pin.isActive) // activated? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH } else { // finished all channels so wait for the refresh period to expire before starting over - if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed - *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL); - else - *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed - Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + const unsigned int cval = ((unsigned)*TCNTn) + 32 / (SERVO_TIMER_PRESCALER), // allow 32 cycles to ensure the next OCR1A not missed + ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + *OCRnA = max(cval, ival); + + Channel[timer] = -1; // reset the timer counter to 0 on the next call } } @@ -123,91 +122,102 @@ static inline void handle_interrupts(const timer16_Sequence_t timer, volatile ui /****************** end of static functions ******************************/ -void initISR(timer16_Sequence_t timer) { - #ifdef _useTimer1 - if (timer == _timer1) { - TCCR1A = 0; // normal counting mode - TCCR1B = _BV(CS11); // set prescaler of 8 - TCNT1 = 0; // clear the timer count - #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) - SBI(TIFR, OCF1A); // clear any pending interrupts; - SBI(TIMSK, OCIE1A); // enable the output compare interrupt - #else - // here if not ATmega8 or ATmega128 - SBI(TIFR1, OCF1A); // clear any pending interrupts; - SBI(TIMSK1, OCIE1A); // enable the output compare interrupt - #endif - #ifdef WIRING - timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); - #endif - } - #endif - - #ifdef _useTimer3 - if (timer == _timer3) { - TCCR3A = 0; // normal counting mode - TCCR3B = _BV(CS31); // set prescaler of 8 - TCNT3 = 0; // clear the timer count - #ifdef __AVR_ATmega128__ - SBI(TIFR, OCF3A); // clear any pending interrupts; - SBI(ETIMSK, OCIE3A); // enable the output compare interrupt - #else - SBI(TIFR3, OCF3A); // clear any pending interrupts; - SBI(TIMSK3, OCIE3A); // enable the output compare interrupt - #endif - #ifdef WIRING - timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only - #endif - } - #endif - - #ifdef _useTimer4 - if (timer == _timer4) { - TCCR4A = 0; // normal counting mode - TCCR4B = _BV(CS41); // set prescaler of 8 - TCNT4 = 0; // clear the timer count - TIFR4 = _BV(OCF4A); // clear any pending interrupts; - TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt - } - #endif - - #ifdef _useTimer5 - if (timer == _timer5) { - TCCR5A = 0; // normal counting mode - TCCR5B = _BV(CS51); // set prescaler of 8 - TCNT5 = 0; // clear the timer count - TIFR5 = _BV(OCF5A); // clear any pending interrupts; - TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt - } - #endif -} - -void finISR(timer16_Sequence_t timer) { - // Disable use of the given timer - #ifdef WIRING - if (timer == _timer1) { - CBI( - #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) - TIMSK1 +void initISR(const timer16_Sequence_t timer_index) { + switch (timer_index) { + default: break; + + #ifdef _useTimer1 + case _timer1: + TCCR1A = 0; // normal counting mode + TCCR1B = _BV(CS11); // set prescaler of 8 + TCNT1 = 0; // clear the timer count + #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) + SBI(TIFR, OCF1A); // clear any pending interrupts; + SBI(TIMSK, OCIE1A); // enable the output compare interrupt #else - TIMSK + // here if not ATmega8 or ATmega128 + SBI(TIFR1, OCF1A); // clear any pending interrupts; + SBI(TIMSK1, OCIE1A); // enable the output compare interrupt #endif - , OCIE1A); // disable timer 1 output compare interrupt - timerDetach(TIMER1OUTCOMPAREA_INT); - } - else if (timer == _timer3) { - CBI( - #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) - TIMSK3 + #ifdef WIRING + timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); + #endif + break; + #endif + + #ifdef _useTimer3 + case _timer3: + TCCR3A = 0; // normal counting mode + TCCR3B = _BV(CS31); // set prescaler of 8 + TCNT3 = 0; // clear the timer count + #ifdef __AVR_ATmega128__ + SBI(TIFR, OCF3A); // clear any pending interrupts; + SBI(ETIMSK, OCIE3A); // enable the output compare interrupt #else - ETIMSK + SBI(TIFR3, OCF3A); // clear any pending interrupts; + SBI(TIMSK3, OCIE3A); // enable the output compare interrupt + #endif + #ifdef WIRING + timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only #endif - , OCIE3A); // disable the timer3 output compare A interrupt - timerDetach(TIMER3OUTCOMPAREA_INT); + break; + #endif + + #ifdef _useTimer4 + case _timer4: + TCCR4A = 0; // normal counting mode + TCCR4B = _BV(CS41); // set prescaler of 8 + TCNT4 = 0; // clear the timer count + TIFR4 = _BV(OCF4A); // clear any pending interrupts; + TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt + break; + #endif + + #ifdef _useTimer5 + case _timer5: + TCCR5A = 0; // normal counting mode + TCCR5B = _BV(CS51); // set prescaler of 8 + TCNT5 = 0; // clear the timer count + TIFR5 = _BV(OCF5A); // clear any pending interrupts; + TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt + break; + #endif + } +} + +void finISR(const timer16_Sequence_t timer_index) { + // Disable use of the given timer + #ifdef WIRING + switch (timer_index) { + default: break; + + case _timer1: + CBI( + #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) + TIMSK1 + #else + TIMSK + #endif + , OCIE1A // disable timer 1 output compare interrupt + ); + timerDetach(TIMER1OUTCOMPAREA_INT); + break; + + case _timer3: + CBI( + #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) + TIMSK3 + #else + ETIMSK + #endif + , OCIE3A // disable the timer3 output compare A interrupt + ); + timerDetach(TIMER3OUTCOMPAREA_INT); + break; } #else // !WIRING // For arduino - in future: call here to a currently undefined function to reset the timer - UNUSED(timer); + UNUSED(timer_index); #endif } diff --git a/Marlin/src/HAL/DUE/Servo.cpp b/Marlin/src/HAL/DUE/Servo.cpp index 72a7d649ef..2dab88238d 100644 --- a/Marlin/src/HAL/DUE/Servo.cpp +++ b/Marlin/src/HAL/DUE/Servo.cpp @@ -47,7 +47,7 @@ #include "../shared/servo.h" #include "../shared/servo_private.h" -static volatile int8_t Channel[_Nbr_16timers]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) +static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset // ------------------------ /// Interrupt handler for the TC0 channel 1. @@ -71,82 +71,91 @@ void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t); #endif void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) { - // clear interrupt - tc->TC_CHANNEL[channel].TC_SR; - if (Channel[timer] < 0) - tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer - else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive) - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated - - Channel[timer]++; // increment to the next channel - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { - tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks; - if (SERVO(timer,Channel[timer]).Pin.isActive) // check if activated - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high + static int8_t Channel[_Nbr_16timers]; // Servo counters to pulse (or -1 for refresh interval) + int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first + if (cho < 0) { // Channel -1 indicates the refresh interval completed... + tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // ...so reset the timer + if (DisablePending[timer]) { + // Disabling only after the full servo period expires prevents + // pulses being too close together if immediately re-enabled. + DisablePending.clear(timer); + TC_Stop(tc, channel); + tc->TC_CHANNEL[channel].TC_SR; // clear interrupt + return; + } + } + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW + + Channel[timer] = ++cho; // go to the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer, cho).ticks; + if (SERVO(timer, cho).Pin.isActive) // activated? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH } else { // finished all channels so wait for the refresh period to expire before starting over - tc->TC_CHANNEL[channel].TC_RA = - tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4 - ? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed - : tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed - Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + const unsigned int cval = tc->TC_CHANNEL[channel].TC_CV + 128 / (SERVO_TIMER_PRESCALER), // allow 128 cycles to ensure the next CV not missed + ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + tc->TC_CHANNEL[channel].TC_RA = max(cval, ival); + + Channel[timer] = -1; // reset the timer CCR on the next call } + + tc->TC_CHANNEL[channel].TC_SR; // clear interrupt } static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) { pmc_enable_periph_clk(id); TC_Configure(tc, channel, - TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32 - TC_CMR_WAVE | // Waveform mode - TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC - - /* 84MHz, MCK/32, for 1.5ms: 3937 */ - TC_SetRA(tc, channel, 2625); // 1ms - - /* Configure and enable interrupt */ + TC_CMR_WAVE // Waveform mode + | TC_CMR_WAVSEL_UP_RC // Counter running up and reset when equal to RC + | (SERVO_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) // MCK/2 + | (SERVO_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) // MCK/8 + | (SERVO_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) // MCK/32 + | (SERVO_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) // MCK/128 + ); + + // Wait 1ms before the first ISR + TC_SetRA(tc, channel, (F_CPU) / (SERVO_TIMER_PRESCALER) / 1000UL); // 1ms + + // Configure and enable interrupt NVIC_EnableIRQ(irqn); - // TC_IER_CPAS: RA Compare - tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; + tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; // TC_IER_CPAS: RA Compare // Enables the timer clock and performs a software reset to start the counting TC_Start(tc, channel); } -void initISR(const timer16_Sequence_t timer) { - #ifdef _useTimer1 - if (timer == _timer1) _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1); - #endif - #ifdef _useTimer2 - if (timer == _timer2) _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2); - #endif - #ifdef _useTimer3 - if (timer == _timer3) _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3); - #endif - #ifdef _useTimer4 - if (timer == _timer4) _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4); - #endif - #ifdef _useTimer5 - if (timer == _timer5) _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5); - #endif +void initISR(const timer16_Sequence_t timer_index) { + CRITICAL_SECTION_START(); + const bool disable_soon = DisablePending[timer_index]; + DisablePending.clear(timer_index); + CRITICAL_SECTION_END(); + + if (!disable_soon) switch (timer_index) { + default: break; + #ifdef _useTimer1 + case _timer1: return _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1); + #endif + #ifdef _useTimer2 + case _timer2: return _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2); + #endif + #ifdef _useTimer3 + case _timer3: return _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3); + #endif + #ifdef _useTimer4 + case _timer4: return _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4); + #endif + #ifdef _useTimer5 + case _timer5: return _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5); + #endif + } } -void finISR(timer16_Sequence_t) { - #ifdef _useTimer1 - TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); - #endif - #ifdef _useTimer2 - TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2); - #endif - #ifdef _useTimer3 - TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3); - #endif - #ifdef _useTimer4 - TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4); - #endif - #ifdef _useTimer5 - TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); - #endif +void finISR(const timer16_Sequence_t timer_index) { + // Timer is disabled from the ISR, to ensure proper final pulse length. + DisablePending.set(timer_index); } #endif // HAS_SERVOS diff --git a/Marlin/src/HAL/DUE/ServoTimers.h b/Marlin/src/HAL/DUE/ServoTimers.h index c32c938253..95bd404c80 100644 --- a/Marlin/src/HAL/DUE/ServoTimers.h +++ b/Marlin/src/HAL/DUE/ServoTimers.h @@ -37,7 +37,7 @@ #define _useTimer5 #define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays -#define SERVO_TIMER_PRESCALER 32 // timer prescaler +#define SERVO_TIMER_PRESCALER 2 // timer prescaler /* TC0, chan 0 => TC0_Handler diff --git a/Marlin/src/HAL/DUE/timers.cpp b/Marlin/src/HAL/DUE/timers.cpp index a7bf7fbd6d..e5647817b6 100644 --- a/Marlin/src/HAL/DUE/timers.cpp +++ b/Marlin/src/HAL/DUE/timers.cpp @@ -89,10 +89,17 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { NVIC_SetPriority(irq, timer_config[timer_num].priority); // wave mode, reset counter on match with RC, - TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1); + TC_Configure(tc, channel, + TC_CMR_WAVE + | TC_CMR_WAVSEL_UP_RC + | (HAL_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) + | (HAL_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) + | (HAL_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) + | (HAL_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) + ); // Set compare value - TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency); + TC_SetRC(tc, channel, VARIANT_MCK / (HAL_TIMER_PRESCALER) / frequency); // And start timer TC_Start(tc, channel); diff --git a/Marlin/src/HAL/DUE/timers.h b/Marlin/src/HAL/DUE/timers.h index bcfd07e268..dc35c77e63 100644 --- a/Marlin/src/HAL/DUE/timers.h +++ b/Marlin/src/HAL/DUE/timers.h @@ -35,7 +35,8 @@ typedef uint32_t hal_timer_t; #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF -#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals +#define HAL_TIMER_PRESCALER 2 +#define HAL_TIMER_RATE ((F_CPU) / (HAL_TIMER_PRESCALER)) // frequency of timers peripherals #ifndef MF_TIMER_STEP #define MF_TIMER_STEP 2 // Timer Index for Stepper diff --git a/Marlin/src/HAL/SAMD51/Servo.cpp b/Marlin/src/HAL/SAMD51/Servo.cpp index 04461653f9..665322fe24 100644 --- a/Marlin/src/HAL/SAMD51/Servo.cpp +++ b/Marlin/src/HAL/SAMD51/Servo.cpp @@ -77,7 +77,8 @@ HAL_SERVO_TIMER_ISR() { ; const uint8_t tcChannel = TIMER_TCCHANNEL(timer); - if (currentServoIndex[timer] < 0) { + int8_t cho = currentServoIndex[timer]; // Handle the prior servo first + if (cho < 0) { // Servo -1 indicates the refresh interval completed... #if defined(_useTimer1) && defined(_useTimer2) if (currentServoIndex[timer ^ 1] >= 0) { // Wait for both channels @@ -86,41 +87,33 @@ HAL_SERVO_TIMER_ISR() { return; } #endif - tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; + tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; // ...so reset the timer SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT); } - else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive) - digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated - - // Select the next servo controlled by this timer - currentServoIndex[timer]++; + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + digitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW - if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) { - if (SERVO(timer, currentServoIndex[timer]).Pin.isActive) // check if activated - digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high + currentServoIndex[timer] = ++cho; // go to the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + if (SERVO(timer, cho).Pin.isActive) // activated? + digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH - tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks; + tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks; } else { // finished all channels so wait for the refresh period to expire before starting over - currentServoIndex[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel - - const uint16_t tcCounterValue = getTimerCount(); - - if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed - tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL); - else - tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL); // at least REFRESH_INTERVAL has elapsed + currentServoIndex[timer] = -1; // reset the timer COUNT.reg on the next call + const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER), // allow 256 cycles to ensure the next CV not missed + ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + tc->COUNT16.CC[tcChannel].reg = min(cval, ival); } if (tcChannel == 0) { SYNC(tc->COUNT16.SYNCBUSY.bit.CC0); - // Clear the interrupt - tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; + tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt } else { SYNC(tc->COUNT16.SYNCBUSY.bit.CC1); - // Clear the interrupt - tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; + tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt } } @@ -201,9 +194,9 @@ void initISR(const timer16_Sequence_t timer) { } } -void finISR(const timer16_Sequence_t timer) { +void finISR(const timer16_Sequence_t timer_index) { Tc * const tc = timer_config[SERVO_TC].pTc; - const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index); // Disable the match channel interrupt request tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1; diff --git a/Marlin/src/HAL/shared/servo_private.h b/Marlin/src/HAL/shared/servo_private.h index 021e0cb81d..10cc5a1988 100644 --- a/Marlin/src/HAL/shared/servo_private.h +++ b/Marlin/src/HAL/shared/servo_private.h @@ -94,5 +94,5 @@ extern ServoInfo_t servo_info[MAX_SERVOS]; // Public functions -extern void initISR(const timer16_Sequence_t timer); -extern void finISR(const timer16_Sequence_t timer); +void initISR(const timer16_Sequence_t timer_index); +void finISR(const timer16_Sequence_t timer_index); diff --git a/Marlin/src/core/serial.cpp b/Marlin/src/core/serial.cpp index 49e792110e..727b191d04 100644 --- a/Marlin/src/core/serial.cpp +++ b/Marlin/src/core/serial.cpp @@ -72,8 +72,8 @@ void serial_print_P(PGM_P str) { while (const char c = pgm_read_byte(str++)) SERIAL_CHAR(c); } -void serial_echo_start() { static PGMSTR(echomagic, "echo:"); serial_print_P(echomagic); } -void serial_error_start() { static PGMSTR(errormagic, "Error:"); serial_print_P(errormagic); } +void serial_echo_start() { serial_print(F("echo:")); } +void serial_error_start() { serial_print(F("Error:")); } void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); } diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h index fc3ef178b6..335aa3a334 100644 --- a/Marlin/src/core/types.h +++ b/Marlin/src/core/types.h @@ -99,8 +99,8 @@ struct Flags { void set(const int n) { b |= (bits_t)_BV(n); } void clear(const int n) { b &= ~(bits_t)_BV(n); } bool test(const int n) const { return TEST(b, n); } - bool operator[](const int n) { return test(n); } - bool operator[](const int n) const { return test(n); } + const bool operator[](const int n) { return test(n); } + const bool operator[](const int n) const { return test(n); } int size() const { return sizeof(b); } }; @@ -113,8 +113,8 @@ struct Flags<1> { void set(const int) { b = true; } void clear(const int) { b = false; } bool test(const int) const { return b; } - bool operator[](const int) { return b; } - bool operator[](const int) const { return b; } + bool& operator[](const int) { return b; } + bool operator[](const int) const { return b; } int size() const { return sizeof(b); } };