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98 lines
3.9 KiB
98 lines
3.9 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* servo_private.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
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* Copyright (c) 2009 Michael Margolis. All right reserved.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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#include <stdint.h>
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// Architecture specific include
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#ifdef __AVR__
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#include "../HAL_AVR/ServoTimers.h"
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#elif defined(ARDUINO_ARCH_SAM)
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#include "../HAL_DUE/ServoTimers.h"
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#else
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#error "This library only supports boards with an AVR or SAM3X processor."
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#endif
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// Macros
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#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo
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#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo
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#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached
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#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds
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#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer
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#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER)
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#define INVALID_SERVO 255 // flag indicating an invalid servo index
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//
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#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / PRESCALER) // converts microseconds to tick (PRESCALER depends on architecture)
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#define ticksToUs(_ticks) (( (unsigned)_ticks * PRESCALER)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
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//#define NBR_TIMERS ((MAX_SERVOS) / (SERVOS_PER_TIMER))
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// convenience macros
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#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo
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#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // returns the index of the servo on this timer
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#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index by timer and channel
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#define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel
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// Types
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typedef struct {
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uint8_t nbr : 6 ; // a pin number from 0 to 63
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uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
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} ServoPin_t;
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typedef struct {
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ServoPin_t Pin;
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unsigned int ticks;
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} ServoInfo_t;
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// Global variables
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extern uint8_t ServoCount;
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extern ServoInfo_t servo_info[MAX_SERVOS];
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// Public functions
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extern void initISR(timer16_Sequence_t timer);
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extern void finISR(timer16_Sequence_t timer);
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