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Marlin/src/HAL/STM32/Servo.cpp

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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ * Copyright (c) 2017 Victor Perez
+ *
+ * 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC)
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+#include "Servo.h"
+
+static uint_fast8_t servoCount = 0;
+static libServo *servos[NUM_SERVOS] = {0};
+constexpr millis_t servoDelay[] = SERVO_DELAY;
+static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
+
+// Initialize to the default timer priority. This will be overridden by a call from timers.cpp.
+// This allows all timer interrupt priorities to be managed from a single location in the HAL.
+static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO);
+
+// This must be called after the STM32 Servo class has intialized the timer.
+// It may only be needed after the first call to attach(), but it is possible
+// that is is necessary after every detach() call. To be safe this is currently
+// called after every call to attach().
+static void fixServoTimerInterruptPriority() {
+  NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority);
+}
+
+libServo::libServo()
+: delay(servoDelay[servoCount]),
+  was_attached_before_pause(false),
+  value_before_pause(0)
+{
+  servos[servoCount++] = this;
+}
+
+int8_t libServo::attach(const int pin) {
+  if (servoCount >= MAX_SERVOS) return -1;
+  if (pin > 0) servo_pin = pin;
+  auto result = stm32_servo.attach(servo_pin);
+  fixServoTimerInterruptPriority();
+  return result;
+}
+
+int8_t libServo::attach(const int pin, const int min, const int max) {
+  if (servoCount >= MAX_SERVOS) return -1;
+  if (pin > 0) servo_pin = pin;
+  auto result = stm32_servo.attach(servo_pin, min, max);
+  fixServoTimerInterruptPriority();
+  return result;
+}
+
+void libServo::move(const int value) {
+  if (attach(0) >= 0) {
+    stm32_servo.write(value);
+    safe_delay(delay);
+    TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach());
+  }
+}
+
+void libServo::pause() {
+  was_attached_before_pause = stm32_servo.attached();
+  if (was_attached_before_pause) {
+    value_before_pause = stm32_servo.read();
+    stm32_servo.detach();
+  }
+}
+
+void libServo::resume() {
+  if (was_attached_before_pause) {
+    attach();
+    move(value_before_pause);
+  }
+}
+
+void libServo::pause_all_servos() {
+  for (auto& servo : servos)
+    if (servo) servo->pause();
+}
+
+void libServo::resume_all_servos() {
+  for (auto& servo : servos)
+    if (servo) servo->resume();
+}
+
+void libServo::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority) {
+  servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), preemptPriority, subPriority);
+}
+
+#endif // HAS_SERVOS
+#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC