diff --git a/Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h b/Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h
new file mode 100644
index 000000000..706bf24ef
--- /dev/null
+++ b/Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h
@@ -0,0 +1,382 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2017 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 .
+ *
+ */
+
+/**
+ * The class Servo uses the PWM class to implement it's functions
+ *
+ * The PWM1 module is only used to generate interrups at specified times. It
+ * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
+ * that interrupt
+ *
+ * All PWMs use the same repetition rate - 20mS because that's the normal servo rate
+ *
+ */
+
+/**
+ * The data structures are setup to minimize the computation done by the ISR which
+ * minimizes ISR execution time. Execution times are 1.7 to 1.9 microseconds.
+ *
+ * Two tables are used. active_table is used by the ISR. Changes to the table are
+ * are done by copying the active_table into the work_table, updating the work_table
+ * and then swapping the two tables. Swapping is done by manipulating pointers.
+ *
+ * Immediately after the swap the ISR uses the work_table until the start of the
+ * next 20mS cycle. During this transition the "work_table" is actually the table
+ * that was being used before the swap. The "active_table" contains the data that
+ * will start being used at the start of the next 20mS period. This keeps the pins
+ * well behaved during the transition.
+ *
+ * The ISR's priority is set to the maximum otherwise other ISRs can cause considerable
+ * jitter in the PWM high time.
+ */
+
+
+#ifdef TARGET_LPC1768
+#include
+//#include "../HAL.h"
+//#include "../../../macros.h"
+#include "serial.h"
+
+typedef struct { // holds all data needed to control the 6 PWM channels
+ uint8_t sequence; // 0: available slot, 1 - 6: PWM channel assigned to that slot
+ uint8_t logical_pin;
+ uint16_t PWM_mask;
+ volatile uint32_t* set_register;
+ volatile uint32_t* clr_register;
+ uint32_t write_mask;
+ uint32_t microseconds;
+ uint32_t min;
+ uint32_t max;
+ bool PWM_flag; //
+ uint8_t servo_index; // 0 - MAX_SERVO -1 : servo index, 0xFF : PWM channel
+ bool active_flag;
+
+} PWM_map;
+
+#define MICRO_MAX 0xffffffff
+
+#define PWM_MAP_INIT_ROW {0, 0xff, 0, 0, 0, 0, MICRO_MAX, 0, 0, 0, 0, 0}
+#define PWM_MAP_INIT {PWM_MAP_INIT_ROW,\
+ PWM_MAP_INIT_ROW,\
+ PWM_MAP_INIT_ROW,\
+ PWM_MAP_INIT_ROW,\
+ PWM_MAP_INIT_ROW,\
+ PWM_MAP_INIT_ROW,\
+ };
+
+PWM_map PWM1_map_A[6] = PWM_MAP_INIT;
+PWM_map PWM1_map_B[6] = PWM_MAP_INIT;
+
+PWM_map *active_table = PWM1_map_A;
+PWM_map *work_table = PWM1_map_B;
+PWM_map *ISR_table;
+
+
+#define NUM_PWMS 6
+
+volatile uint8_t PWM1_ISR_index = 0;
+
+#define IR_BIT(p) (p >= 0 && p <= 3 ? p : p + 4 )
+#define COPY_ACTIVE_TABLE for (uint8_t i = 0; i < 6 ; i++) work_table[i] = active_table[i]
+#define PIN_IS_INVERTED(p) 0 // place holder in case inverting PWM output is offered
+
+
+/**
+ * Prescale register and MR0 register values
+ *
+ * 100MHz PCLK 50MHz PCLK 25MHz PCLK 12.5MHz PCLK
+ * ----------------- ----------------- ----------------- -----------------
+ * desired prescale MR0 prescale MR0 prescale MR0 prescale MR0 resolution
+ * prescale register register register register register register register register in degrees
+ * freq value value value value value value value value
+ *
+ * 8 11.5 159,999 5.25 159,999 2.13 159,999 0.5625 159,999 0.023
+ * 4 24 79,999 11.5 79,999 5.25 79,999 2.125 79,999 0.045
+ * 2 49 39,999 24 39,999 11.5 39,999 5.25 39,999 0.090
+ * 1 99 19,999 49 19,999 24 19,999 11.5 19,999 0.180
+ * 0.5 199 9,999 99 9,999 49 9,999 24 9,999 0.360
+ * 0.25 399 4,999 199 4,999 99 4,999 49 4,999 0.720
+ * 0.125 799 2,499 399 2,499 199 2,499 99 2,499 1.440
+ *
+ * The desired prescale frequency comes from an input in the range of 544 - 2400 microseconds and the
+ * desire to just shift the input left or right as needed.
+ *
+ * A resolution of 0.2 degrees seems reasonable so a prescale frequency output of 1MHz is being used.
+ * It also means we don't need to scale the input.
+ *
+ * The PCLK is set to 25MHz because that's the slowest one that gives whole numbers for prescale and
+ * MR0 registers.
+ *
+ * Final settings:
+ * PCLKSEL0: 0x0
+ * PWM1PR: 0x018 (24)
+ * PWM1MR0: 0x04E1F (19,999)
+ *
+ */
+
+#define LPC_PWM1_MR0 19999 // base repetition rate minus one count - 20mS
+#define LPC_PWM1_PR 24 // prescaler value - prescaler divide by 24 + 1 - 1 MHz output
+#define LPC_PWM1_PCLKSEL0 0x00 // select clock source for prescaler - defaults to 25MHz on power up
+ // 0: 25MHz, 1: 100MHz, 2: 50MHz, 3: 12.5MHZ to PWM1 prescaler
+#define MR0_MARGIN 200 // if channel value too close to MR0 the system locks up
+
+
+void LPC1768_PWM_init(void) {
+ #define SBIT_CNTEN 0 // PWM1 counter & pre-scaler enable/disable
+ #define SBIT_CNTRST 1 // reset counters to known state
+ #define SBIT_PWMEN 3 // 1 - PWM, 0 - timer
+ #define SBIT_PWMMR0R 1
+ #define PCPWM1 6
+ #define PCLK_PWM1 12
+
+ LPC_SC->PCONP |= (1 << PCPWM1); // enable PWM1 controller (enabled on power up)
+ LPC_SC->PCLKSEL0 &= ~(0x3 << PCLK_PWM1);
+ LPC_SC->PCLKSEL0 |= (LPC_PWM1_PCLKSEL0 << PCLK_PWM1);
+ LPC_PWM1->MR0 = LPC_PWM1_MR0; // TC resets every 19,999 + 1 cycles - sets PWM cycle(Ton+Toff) to 20 mS
+ // MR0 must be set before TCR enables the PWM
+ LPC_PWM1->TCR = _BV(SBIT_CNTEN) | _BV(SBIT_CNTRST)| _BV(SBIT_PWMEN);; // enable counters, reset counters, set mode to PWM
+ LPC_PWM1->TCR &= ~(_BV(SBIT_CNTRST)); // take counters out of reset
+ LPC_PWM1->PR = LPC_PWM1_PR;
+ LPC_PWM1->MCR = (_BV(SBIT_PWMMR0R) | _BV(0)); // Reset TC if it matches MR0, disable all interrupts except for MR0
+ LPC_PWM1->CTCR = 0; // disable counter mode (enable PWM mode)
+
+ LPC_PWM1->LER = 0x07F; // Set the latch Enable Bits to load the new Match Values for MR0 - MR6
+ // Set all PWMs to single edge
+ LPC_PWM1->PCR = 0; // single edge mode for all channels, PWM1 control of outputs off
+
+ NVIC_EnableIRQ(PWM1_IRQn); // Enable interrupt handler
+ // NVIC_SetPriority(PWM1_IRQn, NVIC_EncodePriority(0, 10, 0)); // normal priority for PWM module
+ NVIC_SetPriority(PWM1_IRQn, NVIC_EncodePriority(0, 0, 0)); // minimizes jitter due to higher priority ISRs
+}
+
+
+bool PWM_table_swap; // flag to tell the ISR that the tables have been swapped
+
+
+
+bool LPC1768_PWM_attach_pin(uint8_t pin, uint32_t min = 1, uint32_t max = (LPC_PWM1_MR0 - MR0_MARGIN), uint8_t servo_index = 0xff) {
+ COPY_ACTIVE_TABLE; // copy active table into work table
+ uint8_t slot = 0;
+ for (uint8_t i = 0; i < NUM_PWMS ; i++) // see if already in table
+ if (work_table[i].logical_pin == pin) return 1;
+
+ for (uint8_t i = 1; (i < NUM_PWMS + 1) && !slot; i++) // find empty slot
+ if ( !(work_table[i - 1].set_register)) slot = i; // any item that can't be zero when active or just attached is OK
+ if (!slot) return 0;
+ slot--; // turn it into array index
+
+ work_table[slot].logical_pin = pin; // init slot
+ work_table[slot].PWM_mask = 0; // real value set by PWM_write
+ work_table[slot].set_register = PIN_IS_INVERTED(pin) ? &LPC_GPIO(pin_map[pin].port)->FIOCLR : &LPC_GPIO(pin_map[pin].port)->FIOSET;
+ work_table[slot].clr_register = PIN_IS_INVERTED(pin) ? &LPC_GPIO(pin_map[pin].port)->FIOSET : &LPC_GPIO(pin_map[pin].port)->FIOCLR;
+ work_table[slot].write_mask = LPC_PIN(pin_map[pin].pin);
+ work_table[slot].microseconds = MICRO_MAX;
+ work_table[slot].min = min;
+ work_table[slot].max = MIN(max, LPC_PWM1_MR0 - MR0_MARGIN);
+ work_table[slot].servo_index = servo_index;
+ work_table[slot].active_flag = false;
+
+ //swap tables
+ NVIC_DisableIRQ(PWM1_IRQn);
+ PWM_map *pointer_swap = active_table;
+ active_table = work_table;
+ work_table = pointer_swap;
+ PWM_table_swap = true; // tell the ISR that the tables have been swapped
+ NVIC_EnableIRQ(PWM1_IRQn); // re-enable PWM interrupts
+
+ return 1;
+}
+
+
+
+bool LPC1768_PWM_write(uint8_t pin, uint32_t value) {
+ COPY_ACTIVE_TABLE; // copy active table into work table
+ uint8_t slot = 0xFF;
+ for (uint8_t i = 0; i < NUM_PWMS; i++) // find slot
+ if (work_table[i].logical_pin == pin) slot = i;
+ if (slot == 0xFF) return false; // return error if pin not found
+ digitalWrite(pin, 0); // set pin to output & set it low
+ work_table[slot].microseconds = MAX(MIN(value, work_table[slot].max), work_table[slot].min);
+ work_table[slot].active_flag = true;
+
+ for (uint8_t i = NUM_PWMS; --i;) { // (bubble) sort table by microseconds
+ bool didSwap = false;
+ PWM_map temp;
+ for (uint16_t j = 0; j < i; ++j) {
+ if (work_table[j].microseconds > work_table[j + 1].microseconds) {
+ temp = work_table[j + 1];
+ work_table[j + 1] = work_table[j];
+ work_table[j] = temp;
+ didSwap = true;
+ }
+ }
+ if (!didSwap) break;
+ }
+
+ for (uint8_t i = 0; i < NUM_PWMS; i++) // set the index & PWM_mask
+ if (work_table[i].active_flag == true) {
+ work_table[i].sequence = i + 1;
+ work_table[i].PWM_mask = _BV(IR_BIT(i + 1));
+ }
+ else work_table[i].sequence = 0;
+
+ uint32_t interrupt_mask = 0; // set match registers to new values, build IRQ mask
+ if (work_table[0].active_flag == true) {
+ LPC_PWM1->MR1 = work_table[0].microseconds;
+ interrupt_mask |= _BV(3);
+ }
+ if (work_table[1].active_flag == true) {
+ LPC_PWM1->MR2 = work_table[1].microseconds;
+ interrupt_mask |= _BV(6);
+ }
+ if (work_table[2].active_flag == true) {
+ LPC_PWM1->MR3 = work_table[2].microseconds;
+ interrupt_mask |= _BV(9);
+ }
+ if (work_table[3].active_flag == true) {
+ LPC_PWM1->MR4 = work_table[3].microseconds;
+ interrupt_mask |= _BV(12);
+ }
+ if (work_table[4].active_flag == true) {
+ LPC_PWM1->MR5 = work_table[4].microseconds;
+ interrupt_mask |= _BV(15);
+ }
+ if (work_table[5].active_flag == true) {
+ LPC_PWM1->MR6 = work_table[5].microseconds;
+ interrupt_mask |= _BV(18);
+ }
+ interrupt_mask |= _BV(0); // add in MR0 interrupt
+
+ // swap tables
+ NVIC_DisableIRQ(PWM1_IRQn);
+ LPC_PWM1->LER = 0x07E; // Set the latch Enable Bits to load the new Match Values for MR1 - MR6
+ PWM_map *pointer_swap = active_table;
+ active_table = work_table;
+ work_table = pointer_swap;
+ PWM_table_swap = true; // tell the ISR that the tables have been swapped
+ LPC_PWM1->MCR = interrupt_mask; // enable new PWM individual channel interrupts
+ NVIC_EnableIRQ(PWM1_IRQn); // re-enable PWM interrupts
+
+ return 1;
+}
+
+
+
+bool LPC1768_PWM_detach_pin(uint8_t pin) {
+ COPY_ACTIVE_TABLE; // copy active table into work table
+ uint8_t slot = 0xFF;
+ for (uint8_t i = 0; i < NUM_PWMS; i++) // find slot
+ if (work_table[i].logical_pin == pin) slot = i;
+ if (slot == 0xFF) return false; // return error if pin not found
+ pinMode(pin, INPUT_PULLUP); // set pin to input with pullup
+ work_table[slot] = PWM_MAP_INIT_ROW;
+
+ for (uint8_t i = NUM_PWMS; --i;) { // (bubble) sort table by microseconds
+ bool didSwap = false;
+ PWM_map temp;
+ for (uint16_t j = 0; j < i; ++j) {
+ if (work_table[j].microseconds > work_table[j + 1].microseconds) {
+ temp = work_table[j + 1];
+ work_table[j + 1] = work_table[j];
+ work_table[j] = temp;
+ didSwap = true;
+ }
+ }
+ if (!didSwap) break;
+ }
+
+ for (uint8_t i = 0; i < NUM_PWMS; i++) // set the index & PWM_mask
+ if (work_table[i].active_flag == true) {
+ work_table[i].sequence = i + 1;
+ work_table[i].PWM_mask = _BV(IR_BIT(i + 1));
+ }
+ else work_table[i].sequence = 0;
+
+ uint32_t interrupt_mask = 0; // set match registers to new values, build IRQ mask
+ if (work_table[0].active_flag == true) {
+ LPC_PWM1->MR1 = work_table[0].microseconds;
+ interrupt_mask |= _BV(3);
+ }
+ if (work_table[1].active_flag == true) {
+ LPC_PWM1->MR2 = work_table[1].microseconds;
+ interrupt_mask |= _BV(6);
+ }
+ if (work_table[2].active_flag == true) {
+ LPC_PWM1->MR3 = work_table[2].microseconds;
+ interrupt_mask |= _BV(9);
+ }
+ if (work_table[3].active_flag == true) {
+ LPC_PWM1->MR4 = work_table[3].microseconds;
+ interrupt_mask |= _BV(12);
+ }
+ if (work_table[4].active_flag == true) {
+ LPC_PWM1->MR5 = work_table[4].microseconds;
+ interrupt_mask |= _BV(15);
+ }
+ if (work_table[5].active_flag == true) {
+ LPC_PWM1->MR6 = work_table[5].microseconds;
+ interrupt_mask |= _BV(18);
+ }
+
+ interrupt_mask |= _BV(0); // add in MR0 interrupt
+
+ // swap tables
+ NVIC_DisableIRQ(PWM1_IRQn);
+ LPC_PWM1->LER = 0x07E; // Set the latch Enable Bits to load the new Match Values for MR1 - MR6
+ PWM_map *pointer_swap = active_table;
+ active_table = work_table;
+ work_table = pointer_swap;
+ PWM_table_swap = true; // tell the ISR that the tables have been swapped
+ LPC_PWM1->MCR = interrupt_mask; // enable remaining PWM individual channel interrupts
+ NVIC_EnableIRQ(PWM1_IRQn); // re-enable PWM interrupts
+
+ return 1;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+
+#define HAL_PWM_LPC1768_ISR extern "C" void PWM1_IRQHandler(void)
+
+HAL_PWM_LPC1768_ISR {
+ if (PWM_table_swap) ISR_table = work_table; // use old table if a swap was just done
+ else ISR_table = active_table;
+
+ if (LPC_PWM1->IR & 0x1) { // MR0 interrupt
+ PWM_table_swap = false; // MR0 means new values could have been
+ ISR_table = active_table; // loaded so set everything to normal operation
+ for (uint8_t i = 0; (i < NUM_PWMS) && ISR_table[i].active_flag ; i++)
+ *ISR_table[i].set_register = ISR_table[i].write_mask; // set all enabled channels active
+ LPC_PWM1->IR = 0x01; // clear the MR0 interrupt flag bit
+ PWM1_ISR_index = 0;
+ }
+ else {
+ if (ISR_table[PWM1_ISR_index].active_flag && (LPC_PWM1->IR & ISR_table[PWM1_ISR_index].PWM_mask)) {
+ LPC_PWM1->IR = ISR_table[PWM1_ISR_index].PWM_mask; // clear the interrupt flag bit
+ *ISR_table[PWM1_ISR_index].clr_register = ISR_table[PWM1_ISR_index].write_mask; // set channel to inactive
+ }
+ PWM1_ISR_index++; // should be the index for the next interrupt
+ }
+
+return;
+}
+
+#endif
diff --git a/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp b/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
new file mode 100644
index 000000000..641325089
--- /dev/null
+++ b/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
@@ -0,0 +1,169 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016, 2017 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 .
+ *
+*/
+
+/**
+ * Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
+ * timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
+*/
+
+/**
+ * A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
+ * The servos are pulsed in the background using the value most recently written using the write() method
+ *
+ * Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
+ * Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
+ *
+ * The methods are:
+ *
+ * Servo - Class for manipulating servo motors connected to Arduino pins.
+ *
+ * attach(pin) - Attach a servo motor to an i/o pin.
+ * attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds
+ * Default min is 544, max is 2400
+ *
+ * write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.)
+ * writeMicroseconds() - Set the servo pulse width in microseconds.
+ * move(pin, angle) - Sequence of attach(pin), write(angle), delay(SERVO_DELAY).
+ * With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after SERVO_DELAY.
+ * read() - Get the last-written servo pulse width as an angle between 0 and 180.
+ * readMicroseconds() - Get the last-written servo pulse width in microseconds.
+ * attached() - Return true if a servo is attached.
+ * detach() - Stop an attached servo from pulsing its i/o pin.
+ *
+*/
+
+/**
+ * The only time that this library wants physical movement is when a WRITE
+ * command is issued. Before that all the attach & detach activity is solely
+ * within the data base.
+ *
+ * The PWM output is inactive until the first WRITE. After that it stays active
+ * unless DEACTIVATE_SERVOS_AFTER_MOVE is enabled and a MOVE command was issued.
+ *
+ */
+
+
+#if HAS_SERVOS
+
+
+#include "LPC1768_Servo.h"
+#include "servo_private.h"
+
+
+ extern bool LPC1768_PWM_attach_pin(uint8_t, uint32_t, uint32_t, uint8_t);
+ extern bool LPC1768_PWM_write(uint8_t, uint32_t);
+ extern bool LPC1768_PWM_detach_pin(uint8_t);
+
+
+
+ ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
+ uint8_t ServoCount = 0; // the total number of attached servos
+
+
+ #define US_TO_PULSE_WIDTH(p) p
+ #define PULSE_WIDTH_TO_US(p) p
+ #define TRIM_DURATION 0
+ #define SERVO_MIN() MIN_PULSE_WIDTH // minimum value in uS for this servo
+ #define SERVO_MAX() MAX_PULSE_WIDTH // maximum value in uS for this servo
+
+ Servo::Servo() {
+ if (ServoCount < MAX_SERVOS) {
+ this->servoIndex = ServoCount++; // assign a servo index to this instance
+ servo_info[this->servoIndex].pulse_width = US_TO_PULSE_WIDTH(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
+ }
+ else
+ this->servoIndex = INVALID_SERVO; // too many servos
+ }
+
+ int8_t Servo::attach(int pin) {
+ return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+ }
+
+ int8_t Servo::attach(int pin, int min, int max) {
+
+ if (this->servoIndex >= MAX_SERVOS) return -1;
+
+ if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin; // only assign a pin value if the pin info is
+ // greater than zero. This way the init routine can
+ // assign the pin and the MOVE command only needs the value.
+
+
+ this->min = MIN_PULSE_WIDTH; //resolution of min/max is 1 uS
+ this->max = MAX_PULSE_WIDTH;
+
+ servo_info[this->servoIndex].Pin.isActive = true;
+
+ return this->servoIndex;
+ }
+
+ void Servo::detach() {
+ servo_info[this->servoIndex].Pin.isActive = false;
+ }
+
+ void Servo::write(int value) {
+ if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+ value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
+ // odd - this sets zero degrees to 544 and 180 degrees to 2400 microseconds but the literature says
+ // zero degrees should be 500 microseconds and 180 should be 2500
+ }
+ this->writeMicroseconds(value);
+ }
+
+ void Servo::writeMicroseconds(int value) {
+ // calculate and store the values for the given channel
+ byte channel = this->servoIndex;
+ if (channel < MAX_SERVOS) { // ensure channel is valid
+ // ensure pulse width is valid
+ value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
+ value = US_TO_PULSE_WIDTH(value); // convert to pulse_width after compensating for interrupt overhead - 12 Aug 2009
+
+ servo_info[channel].pulse_width = value;
+ LPC1768_PWM_attach_pin(servo_info[this->servoIndex].Pin.nbr, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH, this->servoIndex);
+ LPC1768_PWM_write(servo_info[this->servoIndex].Pin.nbr, value);
+
+ }
+ }
+
+ // return the value as degrees
+ int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
+
+ int Servo::readMicroseconds() {
+ return (this->servoIndex == INVALID_SERVO) ? 0 : PULSE_WIDTH_TO_US(servo_info[this->servoIndex].pulse_width) + TRIM_DURATION;
+ }
+
+ bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
+
+ void Servo::move(int value) {
+ if (this->attach(0) >= 0) { // notice the pin number is zero here
+ this->write(value);
+ delay(SERVO_DELAY);
+ #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
+ this->detach();
+ LPC1768_PWM_detach_pin(servo_info[this->servoIndex].Pin.nbr); // shut down the PWM signal
+ #endif
+ }
+ }
+
+#endif // HAS_SERVOS
+
+
+
diff --git a/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h b/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h
new file mode 100644
index 000000000..8162e75bc
--- /dev/null
+++ b/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h
@@ -0,0 +1,69 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2017 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 .
+ *
+ */
+
+/**
+ * The class Servo uses the PWM class to implement it's functions
+ *
+ * The PWM1 module is only used to generate interrups at specified times. It
+ * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
+ * that interrupt
+ *
+ * All PWMs use the same repetition rate - 20mS because that's the normal servo rate
+ *
+ */
+
+#ifndef LPC1768_SERVO_h
+ #define LPC1768_SERVO_h
+
+ #ifdef TARGET_LPC1768
+ #include
+
+
+ class Servo {
+ public:
+ Servo();
+ int8_t attach(int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
+ int8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
+ void detach();
+ void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
+ void writeMicroseconds(int value); // write pulse width in microseconds
+ void move(int value); // attach the servo, then move to value
+ // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
+ // if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
+ int read(); // returns current pulse width as an angle between 0 and 180 degrees
+ int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release)
+ bool attached(); // return true if this servo is attached, otherwise false
+
+ private:
+ uint8_t servoIndex; // index into the channel data for this servo
+ int min;
+ int max;
+ };
+
+
+ #define HAL_SERVO_LIB Servo
+
+ #endif
+#endif
+
+
+
diff --git a/Marlin/src/HAL/HAL_LPC1768/Servo.cpp b/Marlin/src/HAL/HAL_LPC1768/Servo.cpp
deleted file mode 100644
index 94cd77483..000000000
--- a/Marlin/src/HAL/HAL_LPC1768/Servo.cpp
+++ /dev/null
@@ -1,44 +0,0 @@
-/**
- * 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 .
- *
- */
-
-/*
- Copyright (c) 2013 Arduino LLC. 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
-*/
-
-#ifdef TARGET_LPC1768
-
-
-#endif // ARDUINO_ARCH_SAM
diff --git a/Marlin/src/HAL/HAL_LPC1768/arduino.cpp b/Marlin/src/HAL/HAL_LPC1768/arduino.cpp
index 6a1344834..7fec1ac13 100644
--- a/Marlin/src/HAL/HAL_LPC1768/arduino.cpp
+++ b/Marlin/src/HAL/HAL_LPC1768/arduino.cpp
@@ -140,27 +140,34 @@ bool digitalRead(int pin) {
return LPC_GPIO(pin_map[pin].port)->FIOPIN & LPC_PIN(pin_map[pin].pin) ? 1 : 0;
}
-void analogWrite(int pin, int pwm_value) {
-/*
+
+
+void analogWrite(int pin, int pwm_value) { // 1 - 254: pwm_value, 0: LOW, 255: HIGH
+
+ extern bool LPC1768_PWM_attach_pin(uint8_t, uint32_t, uint32_t, uint8_t);
+ extern bool LPC1768_PWM_write(uint8_t, uint32_t);
+ extern bool LPC1768_PWM_detach_pin(uint8_t);
+ #define MR0_MARGIN 200 // if channel value too close to MR0 the system locks up
+
+ static bool out_of_PWM_slots = false;
+
if (!WITHIN(pin, 0, NUM_DIGITAL_PINS - 1) || pin_map[pin].port == 0xFF)
return;
- int old_pin = pin;
- int old_value = pwm_value;
-
- if(old_value != 0) {
- for(uint16_t x = 0; x <= 5000; x++) {
- LPC_GPIO(pin_map[pin].port)->FIOSET = LPC_PIN(pin_map[pin].pin);
- //digitalWrite(old_pin, HIGH);
- delayMicroseconds(old_value);
- LPC_GPIO(pin_map[pin].port)->FIOCLR = LPC_PIN(pin_map[pin].pin);
- //pinMode(pin, OUTPUT);
- //digitalWrite(old_pin, LOW);
- delayMicroseconds(255 - old_value);
+ uint value = MAX(MIN(pwm_value, 255), 0);
+ if (value == 0 || value == 255) { // treat as digital pin
+ LPC1768_PWM_detach_pin(pin); // turn off PWM
+ digitalWrite(pin, value);
+ }
+ else {
+ if (LPC1768_PWM_attach_pin(pin, 1, (LPC_PWM1->MR0 - MR0_MARGIN), 0xff)) // locks up if get too close to MR0 value
+ LPC1768_PWM_write(pin, map(value, 1, 254, 1, (LPC_PWM1->MR0 - MR0_MARGIN))); // map 1-254 onto PWM range
+ else { // out of PWM channels
+ if (!out_of_PWM_slots) usb_serial.printf(".\nWARNING - OUT OF PWM CHANNELS\n.\n"); //only warn once
+ out_of_PWM_slots = true;
+ digitalWrite(pin, value); // treat as a digital pin if out of channels
}
}
-*/
-
}
extern bool HAL_adc_finished();
diff --git a/Marlin/src/HAL/HAL_LPC1768/main.cpp b/Marlin/src/HAL/HAL_LPC1768/main.cpp
index d624b7416..eebac4a2c 100644
--- a/Marlin/src/HAL/HAL_LPC1768/main.cpp
+++ b/Marlin/src/HAL/HAL_LPC1768/main.cpp
@@ -30,6 +30,7 @@ extern "C" {
#include
#include "arduino.h"
#include "serial.h"
+#include "LPC1768_PWM.h"
static __INLINE uint32_t SysTick_Config(uint32_t ticks) {
if (ticks > SysTick_LOAD_RELOAD_Msk)
@@ -86,6 +87,9 @@ int main(void) {
HAL_timer_init();
+ extern void LPC1768_PWM_init();
+ LPC1768_PWM_init();
+
setup();
while (true) {
loop();
diff --git a/Marlin/src/HAL/HAL_LPC1768/servo_private.h b/Marlin/src/HAL/HAL_LPC1768/servo_private.h
new file mode 100644
index 000000000..e7192b801
--- /dev/null
+++ b/Marlin/src/HAL/HAL_LPC1768/servo_private.h
@@ -0,0 +1,87 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016, 2017 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.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
+*/
+
+/**
+ * Based on "servo.h - Interrupt driven Servo library for Arduino using 16 bit timers -
+ * Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
+ *
+ * The only modification was to update/delete macros to match the LPC176x.
+ *
+ */
+
+
+#ifndef servo_private_h
+#define servo_private_h
+
+#include
+
+
+// Macros
+//values in microseconds
+#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 MAX_SERVOS 4
+
+#define INVALID_SERVO 255 // flag indicating an invalid servo index
+
+
+// Types
+
+typedef struct {
+ uint8_t nbr : 8 ; // a pin number from 0 to 254 (255 signals invalid pin)
+ uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
+} ServoPin_t;
+
+typedef struct {
+ ServoPin_t Pin;
+ unsigned int pulse_width; // pulse width in microseconds
+} ServoInfo_t;
+
+// Global variables
+
+extern uint8_t ServoCount;
+extern ServoInfo_t servo_info[MAX_SERVOS];
+
+
+#endif
diff --git a/Marlin/src/HAL/HAL_LPC1768/servotimers.h b/Marlin/src/HAL/HAL_LPC1768/servotimers.h
deleted file mode 100644
index c5566b26c..000000000
--- a/Marlin/src/HAL/HAL_LPC1768/servotimers.h
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
- Copyright (c) 2013 Arduino LLC. 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
-*/
-
-/**
- * Defines for 16 bit timers used with Servo library
- *
- * If _useTimerX is defined then TimerX is a 32 bit timer on the current board
- * timer16_Sequence_t enumerates the sequence that the timers should be allocated
- * _Nbr_16timers indicates how many timers are available.
- */
diff --git a/Marlin/src/HAL/servo.cpp b/Marlin/src/HAL/servo.cpp
index 472117cd7..46ab76aa0 100644
--- a/Marlin/src/HAL/servo.cpp
+++ b/Marlin/src/HAL/servo.cpp
@@ -56,7 +56,7 @@
#include "HAL.h"
-#if HAS_SERVOS && !IS_32BIT_TEENSY
+#if HAS_SERVOS && !(IS_32BIT_TEENSY || defined(TARGET_LPC1768))
//#include
diff --git a/Marlin/src/HAL/servo.h b/Marlin/src/HAL/servo.h
index 8d099f311..d189aaa09 100644
--- a/Marlin/src/HAL/servo.h
+++ b/Marlin/src/HAL/servo.h
@@ -71,6 +71,10 @@
#if IS_32BIT_TEENSY
#include "HAL_TEENSY35_36/HAL_Servo_Teensy.h" // Teensy HAL uses an inherited library
+
+#elif defined(TARGET_LPC1768)
+ #include "HAL_LPC1768/LPC1768_Servo.cpp"
+
#else
#include