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Keep "astyled" elements in servo.*

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This commit is contained in:
Scott Lahteine
2015-10-02 23:14:39 -07:00
parent 9cb7f3fafd
commit 2bffd12ebd
2 changed files with 16 additions and 16 deletions
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28
Marlin/servo.cpp
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@@ -76,23 +76,23 @@ uint8_t ServoCount = 0; // the total number
/************ static functions common to all instances ***********************/ /************ static functions common to all instances ***********************/
static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA) { static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) {
if (Channel[timer] < 0) if (Channel[timer] < 0)
*TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
else { else {
if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive) if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated digitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
} }
Channel[timer]++; // increment to the next channel Channel[timer]++; // increment to the next channel
if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
*OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks; *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks;
if (SERVO(timer,Channel[timer]).Pin.isActive) // check if activated if (SERVO(timer, Channel[timer]).Pin.isActive) // check if activated
digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high digitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high
} }
else { else {
// finished all channels so wait for the refresh period to expire before starting over // finished all channels so wait for the refresh period to expire before starting over
if ( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed
*OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL); *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
else else
*OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed
@@ -159,7 +159,7 @@ static void initISR(timer16_Sequence_t timer) {
TCNT3 = 0; // clear the timer count TCNT3 = 0; // clear the timer count
#ifdef __AVR_ATmega128__ #ifdef __AVR_ATmega128__
TIFR |= _BV(OCF3A); // clear any pending interrupts; TIFR |= _BV(OCF3A); // clear any pending interrupts;
ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt
#else #else
TIFR3 = _BV(OCF3A); // clear any pending interrupts; TIFR3 = _BV(OCF3A); // clear any pending interrupts;
TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt
@@ -219,8 +219,8 @@ static void finISR(timer16_Sequence_t timer) {
static boolean isTimerActive(timer16_Sequence_t timer) { static boolean isTimerActive(timer16_Sequence_t timer) {
// returns true if any servo is active on this timer // returns true if any servo is active on this timer
for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) { for (uint8_t channel = 0; channel < SERVOS_PER_TIMER; channel++) {
if (SERVO(timer,channel).Pin.isActive) if (SERVO(timer, channel).Pin.isActive)
return true; return true;
} }
return false; return false;
@@ -230,7 +230,7 @@ static boolean isTimerActive(timer16_Sequence_t timer) {
/****************** end of static functions ******************************/ /****************** end of static functions ******************************/
Servo::Servo() { Servo::Servo() {
if ( ServoCount < MAX_SERVOS) { if (ServoCount < MAX_SERVOS) {
this->servoIndex = ServoCount++; // assign a servo index to this instance this->servoIndex = ServoCount++; // assign a servo index to this instance
servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009 servo_info[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
} }
@@ -285,7 +285,7 @@ void Servo::writeMicroseconds(int value) {
else if (value > SERVO_MAX()) else if (value > SERVO_MAX())
value = SERVO_MAX(); value = SERVO_MAX();
value = value - TRIM_DURATION; value = value - TRIM_DURATION;
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009 value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
uint8_t oldSREG = SREG; uint8_t oldSREG = SREG;
@@ -296,7 +296,7 @@ void Servo::writeMicroseconds(int value) {
} }
// return the value as degrees // return the value as degrees
int Servo::read() { return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180); } int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
int Servo::readMicroseconds() { int Servo::readMicroseconds() {
return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION; return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + TRIM_DURATION;

4
Marlin/servo.h
View File

@@ -105,8 +105,8 @@
#define INVALID_SERVO 255 // flag indicating an invalid servo index #define INVALID_SERVO 255 // flag indicating an invalid servo index
typedef struct { typedef struct {
uint8_t nbr :6 ; // a pin number from 0 to 63 uint8_t nbr : 6 ; // a pin number from 0 to 63
uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false
} ServoPin_t; } ServoPin_t;
typedef struct { typedef struct {