/** * Marlin 3D Printer Firmware * Copyright (C) 2016 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 . * */ /** servo_private.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library 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 Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA */ #ifndef SERVO_PRIVATE_H #define SERVO_PRIVATE_H #include // Architecture specific include #ifdef __AVR__ #include "HAL_AVR/ServoTimers.h" #elif defined(ARDUINO_ARCH_SAM) #include "HAL_DUE/ServoTimers.h" #else #error "This library only supports boards with an AVR or SAM3X processor." #endif // Macros #define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo #define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo #define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached #define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds #define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer #define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER) #define INVALID_SERVO 255 // flag indicating an invalid servo index // #define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / PRESCALER) // converts microseconds to tick (PRESCALER depends on architecture) #define ticksToUs(_ticks) (( (unsigned)_ticks * PRESCALER)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds //#define NBR_TIMERS ((MAX_SERVOS) / (SERVOS_PER_TIMER)) // convenience macros #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(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index by timer and channel #define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel // Types typedef struct { uint8_t nbr : 6 ; // a pin number from 0 to 63 uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false } ServoPin_t; typedef struct { ServoPin_t Pin; unsigned int ticks; } ServoInfo_t; // Global variables extern uint8_t ServoCount; extern ServoInfo_t servo_info[MAX_SERVOS]; // Public functions extern void initISR(timer16_Sequence_t timer); extern void finISR(timer16_Sequence_t timer); #endif // SERVO_PRIVATE_H