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STM32F1: Servo "soft" PWM via timer interrupt (#14187)

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Tanguy Pruvot 6 years ago
committed by Scott Lahteine
parent
66e22d9f5a
commit
764f0d9c1c
3 changed files with 124 additions and 7 deletions
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  1. 122
      Marlin/src/HAL/HAL_STM32F1/HAL_Servo_STM32F1.cpp
  2. 7
      Marlin/src/HAL/HAL_STM32F1/HAL_Servo_STM32F1.h
  3. 2
      Marlin/src/HAL/HAL_STM32F1/fastio_STM32F1.h

122
Marlin/src/HAL/HAL_STM32F1/HAL_Servo_STM32F1.cpp
View File

@ -30,6 +30,7 @@
uint8_t ServoCount = 0;
#include "HAL_Servo_STM32F1.h"
#include "HAL_timers_STM32F1.h"
//#include "Servo.h"
@ -46,7 +47,7 @@ uint8_t ServoCount = 0;
*
* This uses the smallest prescaler that allows an overflow < 2^16.
*/
#define MAX_OVERFLOW ((1 << 16) - 1)
#define MAX_OVERFLOW UINT16_MAX //((1 << 16) - 1)
#define CYC_MSEC (1000 * CYCLES_PER_MICROSECOND)
#define TAU_MSEC 20
#define TAU_USEC (TAU_MSEC * 1000)
@ -62,22 +63,45 @@ uint8_t ServoCount = 0;
#define US_TO_ANGLE(us) ((int16_t)(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, \
this->minAngle, this->maxAngle)))
void libServo::servoWrite(uint8_t pin, uint16_t duty_cycle) {
#ifdef SERVO0_TIMER_NUM
if (this->servoIndex == 0) {
this->pwmSetDuty(duty_cycle);
return;
}
#endif
timer_dev *tdev = PIN_MAP[pin].timer_device;
uint8_t tchan = PIN_MAP[pin].timer_channel;
if (tdev) timer_set_compare(tdev, tchan, duty_cycle);
}
libServo::libServo() {
this->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 (!PWM_PIN(pin)) return false;
if (pin >= BOARD_NR_GPIO_PINS) return false;
this->minAngle = minAngle;
this->maxAngle = maxAngle;
this->angle = -1;
#ifdef SERVO0_TIMER_NUM
if (this->servoIndex == 0 && this->setupSoftPWM(pin)) {
this->pin = pin; // set attached()
return true;
}
#endif
if (!PWM_PIN(pin)) return false;
timer_dev *tdev = PIN_MAP[pin].timer_device;
uint8_t tchan = PIN_MAP[pin].timer_channel;
pinMode(pin, PWM);
pwmWrite(pin, 0);
SET_PWM(pin);
servoWrite(pin, 0);
timer_pause(tdev);
timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based
@ -92,12 +116,16 @@ bool libServo::attach(const int32_t pin, const int32_t minAngle, const int32_t m
bool libServo::detach() {
if (!this->attached()) return false;
pwmWrite(this->pin, 0);
this->angle = -1;
servoWrite(this->pin, 0);
return true;
}
int32_t libServo::read() const {
if (this->attached()) {
#ifdef SERVO0_TIMER_NUM
if (this->servoIndex == 0) return this->angle;
#endif
timer_dev *tdev = PIN_MAP[this->pin].timer_device;
uint8_t tchan = PIN_MAP[this->pin].timer_channel;
return US_TO_ANGLE(COMPARE_TO_US(timer_get_compare(tdev, tchan)));
@ -110,13 +138,95 @@ void libServo::move(const int32_t value) {
static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
if (this->attached()) {
pwmWrite(this->pin, US_TO_COMPARE(ANGLE_TO_US(constrain(value, this->minAngle, this->maxAngle))));
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 ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
this->detach();
#endif
}
}
#ifdef SERVO0_TIMER_NUM
extern "C" void Servo_IRQHandler(void) {
static timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
uint16_t SR = timer_get_status(tdev);
if (SR & TIMER_SR_CC1IF) { // channel 1 off
#ifdef SERVO0_PWM_OD
OUT_WRITE_OD(SERVO0_PIN, 1); // off
#else
OUT_WRITE(SERVO0_PIN, 0);
#endif
timer_reset_status_bit(tdev, TIMER_SR_CC1IF_BIT);
}
if (SR & TIMER_SR_CC2IF) { // channel 2 resume
#ifdef SERVO0_PWM_OD
OUT_WRITE_OD(SERVO0_PIN, 0); // on
#else
OUT_WRITE(SERVO0_PIN, 1);
#endif
timer_reset_status_bit(tdev, TIMER_SR_CC2IF_BIT);
}
}
bool libServo::setupSoftPWM(const int32_t pin) {
timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
if (!tdev) return false;
#ifdef SERVO0_PWM_OD
OUT_WRITE_OD(pin, 1);
#else
OUT_WRITE(pin, 0);
#endif
timer_pause(tdev);
timer_set_mode(tdev, 1, TIMER_OUTPUT_COMPARE); // counter with isr
timer_oc_set_mode(tdev, 1, TIMER_OC_MODE_FROZEN, 0); // no pin output change
timer_oc_set_mode(tdev, 2, TIMER_OC_MODE_FROZEN, 0); // no pin output change
timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based
timer_set_reload(tdev, SERVO_OVERFLOW);
timer_set_compare(tdev, 1, SERVO_OVERFLOW);
timer_set_compare(tdev, 2, SERVO_OVERFLOW);
timer_attach_interrupt(tdev, 1, Servo_IRQHandler);
timer_attach_interrupt(tdev, 2, Servo_IRQHandler);
timer_generate_update(tdev);
timer_resume(tdev);
return true;
}
void libServo::pwmSetDuty(const uint16_t duty_cycle) {
timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
timer_set_compare(tdev, 1, duty_cycle);
timer_generate_update(tdev);
if (duty_cycle) {
timer_enable_irq(tdev, 1);
timer_enable_irq(tdev, 2);
}
else {
timer_disable_irq(tdev, 1);
timer_disable_irq(tdev, 2);
#ifdef SERVO0_PWM_OD
OUT_WRITE_OD(this->pin, 1); // off
#else
OUT_WRITE(this->pin, 0);
#endif
}
}
void libServo::pauseSoftPWM() { // detach
timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
timer_pause(tdev);
pwmSetDuty(0);
}
#else
bool libServo::setupSoftPWM(const int32_t pin) {}
void libServo::pwmSetDuty(const uint16_t duty_cycle) {}
void libServo::pauseSoftPWM() {}
#endif
#endif // HAS_SERVOS
#endif // __STM32F1__

7
Marlin/src/HAL/HAL_STM32F1/HAL_Servo_STM32F1.h
View File

@ -46,8 +46,15 @@ class libServo {
void move(const int32_t value);
int32_t read() const;
private:
void servoWrite(uint8_t pin, const uint16_t duty_cycle);
uint8_t servoIndex; // index into the channel data for this servo
int32_t pin = NOT_ATTACHED;
int32_t minAngle;
int32_t maxAngle;
int32_t angle;
bool setupSoftPWM(const int32_t pin);
void pauseSoftPWM();
void pwmSetDuty(const uint16_t duty_cycle);
};

2
Marlin/src/HAL/HAL_STM32F1/fastio_STM32F1.h
View File

@ -49,7 +49,7 @@
#define SET_PWM_OD(IO) pinMode(IO, PWM_OPEN_DRAIN)
#define IS_INPUT(IO) (_GET_MODE(IO) == GPIO_INPUT_FLOATING || _GET_MODE(IO) == GPIO_INPUT_ANALOG || _GET_MODE(IO) == GPIO_INPUT_PU || _GET_MODE(IO) == GPIO_INPUT_PD)
#define IS_OUTPUT(IO) (_GET_MODE(IO) == GPIO_OUTPUT_PP)
#define IS_OUTPUT(IO) (_GET_MODE(IO) == GPIO_OUTPUT_PP || _GET_MODE(IO) == GPIO_OUTPUT_OD)
#define PWM_PIN(IO) (PIN_MAP[IO].timer_device != nullptr)

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