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Fix multiple servos with STM32 #16151

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merged 2 commits into from
Dec 11, 2019
Merged

Fix multiple servos with STM32 #16151

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523ef87
Bugfix multiple servos
MangaValk Dec 8, 2019
01d7702
Fix that isn't dependent on change upstream
MangaValk Dec 9, 2019
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23 changes: 14 additions & 9 deletions Marlin/src/HAL/HAL_STM32/Servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,25 +28,30 @@

#include "Servo.h"

uint8_t servoPin[MAX_SERVOS] = { 0 };
static uint_fast8_t servoCount = 0;
constexpr millis_t servoDelay[] = SERVO_DELAY;
static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long.");

libServo::libServo()
: delay(servoDelay[servoCount++])
{}

int8_t libServo::attach(const int pin) {
if (servoIndex >= MAX_SERVOS) return -1;
if (pin > 0) servoPin[servoIndex] = pin;
return super::attach(servoPin[servoIndex]);
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
return super::attach(servo_pin);
}

int8_t libServo::attach(const int pin, const int min, const int max) {
if (pin > 0) servoPin[servoIndex] = pin;
return super::attach(servoPin[servoIndex], min, max);
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
return super::attach(servo_pin, min, max);
}

void libServo::move(const int 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 (attach(0) >= 0) {
write(value);
safe_delay(servo_delay[servoIndex]);
safe_delay(delay);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
detach();
#endif
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6 changes: 4 additions & 2 deletions Marlin/src/HAL/HAL_STM32/Servo.h
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Expand Up @@ -27,11 +27,13 @@
// Inherit and expand on the official library
class libServo : public Servo {
public:
libServo();
int8_t attach(const int pin);
int8_t attach(const int pin, const int min, const int max);
void move(const int value);
private:
typedef Servo super;
uint16_t min_ticks, max_ticks;
uint8_t servoIndex; // index into the channel data for this servo

int servo_pin = 0;
millis_t delay = 0;
};
4 changes: 2 additions & 2 deletions buildroot/share/PlatformIO/variants/BIGTREE_SKR_PRO_1v1/variant.h
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Expand Up @@ -246,11 +246,11 @@ extern "C" {

// Timer Definitions
//Do not use timer used by PWM pins when possible. See PinMap_PWM in PeripheralPins.c
#define TIMER_TONE TIM6
#define TIMER_TONE TIM2
#define TIMER_SERIAL TIM7

// Do not use basic timer: OC is required
#define TIMER_SERVO TIM2 //TODO: advanced-control timers don't work
#define TIMER_SERVO TIM6 //TODO: advanced-control timers don't work
Comment on lines 252 to +253
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@sjasonsmith sjasonsmith Dec 8, 2019 •
edited
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I am confused by this. TIM6 is a basic timer, and TIM2 is a General-purpose timer.
This contradicts the comment in the line above. Do you know why this is working using the less functional timer?

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Hi all,
the comment is a legacy one. Since HardwareTimer library has been deployed, this comment is no more relevant.
Using TIM6 is a good option like it is not linked to a pin.

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In that case we may need to check whether TIM2 is attached to any pins that might cause problems for the TONE_TIMER. Perhaps you are using some of the pins which attach to TIM2 as PWM outputs, and those are interfering with the timer operation.

(Sounds like the comment should be removed as well)


// UART Definitions
// Define here Serial instance number to map on Serial generic name
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