From 27cbb939b2ad23b79d4d5ec3689807e166bbe592 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Thu, 31 Aug 2017 17:30:43 -0500
Subject: [PATCH] Clean up some HAL code
---
Marlin/src/HAL/HAL_AVR/watchdog_AVR.cpp | 4 +-
Marlin/src/HAL/HAL_AVR/watchdog_AVR.h | 4 +-
Marlin/src/HAL/HAL_DUE/HAL_Due.cpp | 4 +-
Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp | 1 -
Marlin/src/HAL/HAL_DUE/fastio_Due.h | 1 -
Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h | 4 +-
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp | 130 +++++++++----------
Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h | 57 ++++----
Marlin/src/HAL/HAL_pinsDebug.h | 27 ++--
Marlin/src/HAL/HAL_spi_pins.h | 2 +-
Marlin/src/HAL/servo.h | 63 +++++----
Marlin/stepper.cpp | 7 +-
12 files changed, 140 insertions(+), 164 deletions(-)
diff --git a/Marlin/src/HAL/HAL_AVR/watchdog_AVR.cpp b/Marlin/src/HAL/HAL_AVR/watchdog_AVR.cpp
index 40d7bdf724e..eb412ed2522 100644
--- a/Marlin/src/HAL/HAL_AVR/watchdog_AVR.cpp
+++ b/Marlin/src/HAL/HAL_AVR/watchdog_AVR.cpp
@@ -22,12 +22,14 @@
#ifdef ARDUINO_ARCH_AVR
-#include "../../../Marlin.h"
+#include "../../../MarlinConfig.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog_AVR.h"
+#include "../../../Marlin.h"
+
// Initialize watchdog with a 4 sec interrupt time
void watchdog_init() {
#if ENABLED(WATCHDOG_RESET_MANUAL)
diff --git a/Marlin/src/HAL/HAL_AVR/watchdog_AVR.h b/Marlin/src/HAL/HAL_AVR/watchdog_AVR.h
index e3572fe749b..a66feebeca8 100644
--- a/Marlin/src/HAL/HAL_AVR/watchdog_AVR.h
+++ b/Marlin/src/HAL/HAL_AVR/watchdog_AVR.h
@@ -23,8 +23,6 @@
#ifndef WATCHDOG_AVR_H
#define WATCHDOG_AVR_H
-//#include "../../../Marlin.h"
-
#include <avr/wdt.h>
// Initialize watchdog with a 4 second interrupt time
@@ -34,4 +32,4 @@ void watchdog_init();
// first watchdog_init or AVR will go into emergency procedures.
inline void watchdog_reset() { wdt_reset(); }
-#endif
+#endif // WATCHDOG_AVR_H
diff --git a/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
index 81a279b6db4..078857ec0aa 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
+++ b/Marlin/src/HAL/HAL_DUE/HAL_Due.cpp
@@ -94,8 +94,8 @@ uint8_t HAL_get_reset_source (void) {
}
void _delay_ms(int delay_ms) {
- //todo: port for Due?
- delay (delay_ms);
+ // todo: port for Due?
+ delay(delay_ms);
}
extern "C" {
diff --git a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
index 0802624dec0..dbeb285417e 100644
--- a/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
+++ b/Marlin/src/HAL/HAL_DUE/HAL_timers_Due.cpp
@@ -91,7 +91,6 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
Timer_clock4: Prescaler 128 -> 656.25kHz
*/
-
void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
Tc *tc = TimerConfig[timer_num].pTimerRegs;
IRQn_Type irq = TimerConfig[timer_num].IRQ_Id;
diff --git a/Marlin/src/HAL/HAL_DUE/fastio_Due.h b/Marlin/src/HAL/HAL_DUE/fastio_Due.h
index bc8c14880e2..3d61da815c2 100644
--- a/Marlin/src/HAL/HAL_DUE/fastio_Due.h
+++ b/Marlin/src/HAL/HAL_DUE/fastio_Due.h
@@ -431,5 +431,4 @@ pins
#define DIO100_PIN 11
#define DIO100_WPORT PIOC
-
#endif // _FASTIO_DUE_H
diff --git a/Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h b/Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h
index d91b0710a99..ed02b9d330d 100644
--- a/Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h
+++ b/Marlin/src/HAL/HAL_LPC1768/LPC1768_PWM.h
@@ -21,7 +21,7 @@
*/
/**
- * The class Servo uses the PWM class to implement it's functions
+ * The class Servo uses the PWM class to implement its functions
*
* All PWMs use the same repetition rate - 20mS because that's the normal servo rate
*/
@@ -489,7 +489,7 @@ return;
* writes to the LER register
* sets the PWM_table_swap flag active
* re-enables the ISR
- * 7) On the next interrupt the ISR changes it's pointer to the work table which is now the old,
+ * 7) On the next interrupt the ISR changes its pointer to the work table which is now the old,
* unmodified, active table.
* 8) On the next MR0 interrupt the ISR:
* switches over to the active table
diff --git a/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp b/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
index a7765d24e44..f2a311e5a8a 100644
--- a/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
+++ b/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.cpp
@@ -1,85 +1,79 @@
/**
- * 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 <http://www.gnu.org/licenses/>.
- *
-*/
-
-/**
- * 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.
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
- * 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.
+ * 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 <http://www.gnu.org/licenses/>.
*
*/
-#ifdef TARGET_LPC1768
+/**
+ * Based on servo.cpp - Interrupt driven Servo library for Arduino using 16 bit
+ * timers- Version 2 Copyright (c) 2009 Michael Margolis. All right reserved.
+ */
-#if HAS_SERVOS
+/**
+ * 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.
+ */
-#include "LPC1768_Servo.h"
-#include "servo_private.h"
+#include "../../../MarlinConfig.h"
+#if HAS_SERVOS && defined(TARGET_LPC1768)
+
+ #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
@@ -107,7 +101,6 @@
// 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;
@@ -165,7 +158,4 @@
}
}
-#endif // HAS_SERVOS
-
-#endif // TARGET_LPC1768
-
+#endif // HAS_SERVOS && TARGET_LPC1768
diff --git a/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h b/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h
index 8162e75bc5f..7cbd97826c6 100644
--- a/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h
+++ b/Marlin/src/HAL/HAL_LPC1768/LPC1768_Servo.h
@@ -21,7 +21,7 @@
*/
/**
- * The class Servo uses the PWM class to implement it's functions
+ * The class Servo uses the PWM class to implement its 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
@@ -31,39 +31,32 @@
*
*/
-#ifndef LPC1768_SERVO_h
- #define LPC1768_SERVO_h
+#ifndef LPC1768_SERVO_H
+#define LPC1768_SERVO_H
- #ifdef TARGET_LPC1768
- #include <inttypes.h>
+#include <inttypes.h>
+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
- 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
-
+ private:
+ uint8_t servoIndex; // index into the channel data for this servo
+ int min;
+ int max;
+};
+#define HAL_SERVO_LIB Servo
+#endif // LPC1768_SERVO_H
diff --git a/Marlin/src/HAL/HAL_pinsDebug.h b/Marlin/src/HAL/HAL_pinsDebug.h
index de802d48ce4..0f28b34d5f2 100644
--- a/Marlin/src/HAL/HAL_pinsDebug.h
+++ b/Marlin/src/HAL/HAL_pinsDebug.h
@@ -21,19 +21,18 @@
*/
#ifndef HAL_PINSDEBUG_H
+#define HAL_PINSDEBUG_H
-#if defined(PINS_DEBUGGING)
- #ifdef ARDUINO_ARCH_AVR
- #include "HAL_AVR/pinsDebug_AVR_8_bit.h"
- #elif defined(ARDUINO_ARCH_SAM)
- #include "HAL_DUE/HAL_pinsDebug_Due.h"
- #elif IS_32BIT_TEENSY
- #include "HAL_TEENSY35_36/HAL_pinsDebug_Teensy.h"
- #elif defined(TARGET_LPC1768)
- #include "HAL_LPC1768/pinsDebug_Re_ARM.h"
- #else
- #error Unsupported Platform!
- #endif
-#endif
-
+#ifdef ARDUINO_ARCH_AVR
+ #include "HAL_AVR/pinsDebug_AVR_8_bit.h"
+#elif defined(ARDUINO_ARCH_SAM)
+ #include "HAL_DUE/HAL_pinsDebug_Due.h"
+#elif IS_32BIT_TEENSY
+ #include "HAL_TEENSY35_36/HAL_pinsDebug_Teensy.h"
+#elif defined(TARGET_LPC1768)
+ #include "HAL_LPC1768/pinsDebug_Re_ARM.h"
+#else
+ #error Unsupported Platform!
#endif
+
+#endif // HAL_PINSDEBUG_H
diff --git a/Marlin/src/HAL/HAL_spi_pins.h b/Marlin/src/HAL/HAL_spi_pins.h
index 05915d839ae..4d4c27d070d 100644
--- a/Marlin/src/HAL/HAL_spi_pins.h
+++ b/Marlin/src/HAL/HAL_spi_pins.h
@@ -41,4 +41,4 @@
#error "Unsupported Platform!"
#endif
-#endif /* HAL_SPI_PINS_H_ */
+#endif // HAL_SPI_PINS_H_
diff --git a/Marlin/src/HAL/servo.h b/Marlin/src/HAL/servo.h
index d189aaa0964..efbe90071a7 100644
--- a/Marlin/src/HAL/servo.h
+++ b/Marlin/src/HAL/servo.h
@@ -66,48 +66,47 @@
With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach.
*/
-#ifndef servo_h
-#define servo_h
+#ifndef SERVO_H
+#define SERVO_H
#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"
+ #include "HAL_LPC1768/LPC1768_Servo.h"
#else
+ #include <inttypes.h>
-#include <inttypes.h>
+ #if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM)
+ // we're good to go
+ #else
+ #error "This library only supports boards with an AVR or SAM3X processor."
+ #endif
-#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM)
- // we're good to go
-#else
- #error "This library only supports boards with an AVR or SAM3X processor."
-#endif
+ #define Servo_VERSION 2 // software version of this library
-#define Servo_VERSION 2 // software version of this library
+ 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
-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
- int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
- int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
-};
-
-#endif // !TEENSY
+ private:
+ uint8_t servoIndex; // index into the channel data for this servo
+ int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH
+ int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH
+ };
#endif
+
+#endif // SERVO_H
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 8b12dbc8425..f982db4a32f 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -355,11 +355,8 @@ void Stepper::isr() {
}
_NEXT_ISR(ocr_val);
- #ifdef CPU_32_BIT
- //todo: HAL?
- #else
- NOLESS(OCR1A, TCNT1 + 16);
- #endif
+
+ NOLESS(OCR1A, TCNT1 + 16);
HAL_ENABLE_ISRs(); // re-enable ISRs
return;