Rename all Stm32f1 to STM32F1 (#12639)

2019-01-01 06:36:49 +08:00
parent 371d9a1acf
commit 7557f8d68c
11 changed files with 9 additions and 9 deletions
--- a/Marlin/src/HAL/HAL_STM32F1/HAL_Servo_STM32F1.cpp
+++ b/Marlin/src/HAL/HAL_STM32F1/HAL_Servo_STM32F1.cpp
@@ -0,0 +1,120 @@
+/**
+ * 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
+ * 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 <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifdef __STM32F1__
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_SERVOS
+
+uint8_t ServoCount; //=0
+
+#include "HAL_Servo_STM32F1.h"
+
+//#include "Servo.h"
+
+#include <boards.h>
+#include <io.h>
+#include <pwm.h>
+#include <wirish_math.h>
+
+/**
+ * 20 millisecond period config. For a 1-based prescaler,
+ *
+ *    (prescaler * overflow / CYC_MSEC) msec = 1 timer cycle = 20 msec
+ * => prescaler * overflow = 20 * CYC_MSEC
+ *
+ * This uses the smallest prescaler that allows an overflow < 2^16.
+ */
+#define MAX_OVERFLOW    ((1 << 16) - 1)
+#define CYC_MSEC        (1000 * CYCLES_PER_MICROSECOND)
+#define TAU_MSEC        20
+#define TAU_USEC        (TAU_MSEC * 1000)
+#define TAU_CYC         (TAU_MSEC * CYC_MSEC)
+#define SERVO_PRESCALER (TAU_CYC / MAX_OVERFLOW + 1)
+#define SERVO_OVERFLOW  ((uint16)round((double)TAU_CYC / SERVO_PRESCALER))
+
+// Unit conversions
+#define US_TO_COMPARE(us) ((uint16)map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW))
+#define COMPARE_TO_US(c)  ((uint32)map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC))
+#define ANGLE_TO_US(a)    ((uint16)(map((a), this->minAngle, this->maxAngle, \
+                                        SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW)))
+#define US_TO_ANGLE(us)   ((int16)(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW,  \
+                                       this->minAngle, this->maxAngle)))
+
+libServo::libServo() {
+  this->servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO;
+}
+
+bool libServo::attach(const int32_t pin, const int32_t minAngle, const int32_t maxAngle) {
+  if (this->servoIndex >= MAX_SERVOS) return false;
+
+  this->pin = pin;
+  this->minAngle = minAngle;
+  this->maxAngle = maxAngle;
+
+  timer_dev *tdev = PIN_MAP[this->pin].timer_device;
+  uint8 tchan = PIN_MAP[this->pin].timer_channel;
+
+  pinMode(this->pin, PWM);
+  pwmWrite(this->pin, 0);
+
+  timer_pause(tdev);
+  timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based
+  timer_set_reload(tdev, SERVO_OVERFLOW);
+  timer_generate_update(tdev);
+  timer_resume(tdev);
+
+  return true;
+}
+
+bool libServo::detach() {
+  if (!this->attached()) return false;
+  pwmWrite(this->pin, 0);
+  return true;
+}
+
+int32_t libServo::read() const {
+  if (this->attached()) {
+    timer_dev *tdev = PIN_MAP[this->pin].timer_device;
+    uint8 tchan = PIN_MAP[this->pin].timer_channel;
+    return US_TO_ANGLE(COMPARE_TO_US(timer_get_compare(tdev, tchan)));
+  }
+  return 0;
+}
+
+void libServo::move(const int32_t value) {
+  constexpr uint16_t servo_delay[] = SERVO_DELAY;
+  static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");
+
+  if (this->attached()) {
+    pwmWrite(this->pin, US_TO_COMPARE(ANGLE_TO_US(constrain(value, this->minAngle, this->maxAngle))));
+    safe_delay(servo_delay[this->servoIndex]);
+    #if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
+      this->detach();
+    #endif
+  }
+}
+#endif // HAS_SERVOS
+
+#endif // __STM32F1__