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First attempt at refactoring of original servo code. Only adding servo support as a start to keep things simple.

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This commit is contained in:
Gord Christmas 2013-05-16 07:03:01 -07:00
parent b668cb0516
commit dc59f07d24
4 changed files with 396 additions and 308 deletions
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17
Marlin/Configuration.h
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@ -406,6 +406,23 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
// Support for the BariCUDA Paste Extruder.
//#define BARICUDA
/*********************************************************************\
*
* R/C SERVO support
*
* Sponsored by TrinityLabs, Reworked by codexmas
*
**********************************************************************/
// Number of servos
//
// If you select a configuration below, this will receive a default value and does not need to be set manually
// set it manually if you have more servos than extruders and wish to manually control some
// leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled
//
// #define NUM_SERVOS 3
#include "Configuration_adv.h"
#include "thermistortables.h"

60
Marlin/Marlin_main.cpp
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@ -40,6 +40,10 @@
#include "language.h"
#include "pins_arduino.h"
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
#include "Servo.h"
#endif
#if DIGIPOTSS_PIN > -1
#include <SPI.h>
#endif
@ -121,6 +125,7 @@
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph
// M280 - set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beepsound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes
@ -225,6 +230,10 @@ static uint8_t tmp_extruder;
bool Stopped=false;
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
Servo servos[NUM_SERVOS];
#endif
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
@ -331,6 +340,25 @@ void suicide()
#endif
}
void servo_init()
{
#if (NUM_SERVOS >= 1) && defined (SERVO0_PIN) && (SERVO0_PIN > -1)
servos[0].attach(SERVO0_PIN);
#endif
#if (NUM_SERVOS >= 2) && defined (SERVO1_PIN) && (SERVO1_PIN > -1)
servos[1].attach(SERVO1_PIN);
#endif
#if (NUM_SERVOS >= 3) && defined (SERVO2_PIN) && (SERVO2_PIN > -1)
servos[2].attach(SERVO2_PIN);
#endif
#if (NUM_SERVOS >= 4) && defined (SERVO3_PIN) && (SERVO3_PIN > -1)
servos[3].attach(SERVO3_PIN);
#endif
#if (NUM_SERVOS >= 5)
#error "TODO: enter initalisation code for more servos"
#endif
}
void setup()
{
setup_killpin();
@ -379,6 +407,7 @@ void setup()
watchdog_init();
st_init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
lcd_init();
@ -1485,6 +1514,37 @@ void process_commands()
}
break;
#if (defined NUM_SERVOS) && (NUM_SERVOS > 0)
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
{
int servo_index = -1;
int servo_position = 0;
if (code_seen('P'))
servo_index = code_value();
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
servos[servo_index].write(servo_position);
}
else {
SERIAL_ECHO_START;
SERIAL_ECHO("Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHOLN(" out of range");
}
}
else if (servo_index >= 0) {
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" Servo ");
SERIAL_PROTOCOL(servo_index);
SERIAL_PROTOCOL(": ");
SERIAL_PROTOCOL(servos[servo_index].read());
SERIAL_PROTOCOLLN("");
}
}
break;
#endif // NUM_SERVOS > 0
#if defined(LARGE_FLASH) && LARGE_FLASH == true && defined(BEEPER) && BEEPER > -1
case 300: // M300
{

26
Marlin/Servo.h
View File

@ -59,28 +59,34 @@
// Say which 16 bit timers can be used and in what order
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define _useTimer5
#define _useTimer1
//#define _useTimer1
#define _useTimer3
#define _useTimer4
typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_ATmega32U4__)
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
//#define _useTimer1
#define _useTimer3
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
//#define _useTimer1
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
#define _useTimer3
#define _useTimer1
typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
//#define _useTimer1
//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
#else // everything else
#define _useTimer1
typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
//#define _useTimer1
//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
typedef enum { _Nbr_16timers } timer16_Sequence_t ;
#endif
#define Servo_VERSION 2 // software version of this library

5
Marlin/pins.h
View File

@ -383,6 +383,11 @@
#define HEATER_BED_PIN 8 // BED
#define TEMP_BED_PIN 14 // ANALOG NUMBERING
#define SERVO0_PIN 11
#define SERVO1_PIN 6
#define SERVO2_PIN 5
#define SERVO3_PIN 4
#ifdef ULTRA_LCD
#ifdef NEWPANEL