diff --git a/Marlin/src/HAL/HAL_ESP32/Servo.cpp b/Marlin/src/HAL/HAL_ESP32/Servo.cpp
index c6be4b1280f301c76e164b3b3460600bcbcf1159..3c3b8fa704bfa26393e7ee2c67a0c9084325a1c5 100644
--- a/Marlin/src/HAL/HAL_ESP32/Servo.cpp
+++ b/Marlin/src/HAL/HAL_ESP32/Servo.cpp
@@ -32,25 +32,25 @@
int Servo::channel_next_free = 12;
Servo::Servo() {
- this->channel = channel_next_free++;
+ channel = channel_next_free++;
}
-int8_t Servo::attach(const int pin) {
- if (this->channel >= CHANNEL_MAX_NUM) return -1;
- if (pin > 0) this->pin = pin;
+int8_t Servo::attach(const int inPin) {
+ if (channel >= CHANNEL_MAX_NUM) return -1;
+ if (pin > 0) pin = inPin;
- ledcSetup(this->channel, 50, 16); // channel X, 50 Hz, 16-bit depth
- ledcAttachPin(this->pin, this->channel);
+ ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth
+ ledcAttachPin(pin, channel);
return true;
}
-void Servo::detach() { ledcDetachPin(this->pin); }
+void Servo::detach() { ledcDetachPin(pin); }
-int Servo::read() { return this->degrees; }
+int Servo::read() { return degrees; }
void Servo::write(int inDegrees) {
- this->degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
- int us = map(this->degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+ degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE);
+ int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE);
ledcWrite(channel, duty);
}
@@ -58,11 +58,11 @@ void Servo::write(int inDegrees) {
void Servo::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 (this->attach(0) >= 0) {
- this->write(value);
- safe_delay(servo_delay[this->channel]);
+ if (attach(0) >= 0) {
+ write(value);
+ safe_delay(servo_delay[channel]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
- this->detach();
+ detach();
#endif
}
}
diff --git a/Marlin/src/HAL/HAL_LPC1768/Servo.h b/Marlin/src/HAL/HAL_LPC1768/Servo.h
index 8b511032cb9c7ad65f58b3f64d05d778a25c7416..1bbf84c73e997d2c2ca012b5ff6f621427fe3d2b 100644
--- a/Marlin/src/HAL/HAL_LPC1768/Servo.h
+++ b/Marlin/src/HAL/HAL_LPC1768/Servo.h
@@ -57,11 +57,11 @@ class libServo: public Servo {
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->attach(servo_info[this->servoIndex].Pin.nbr) >= 0) { // try to reattach
- this->write(value);
- safe_delay(servo_delay[this->servoIndex]); // delay to allow servo to reach position
+ if (attach(servo_info[servoIndex].Pin.nbr) >= 0) { // try to reattach
+ write(value);
+ safe_delay(servo_delay[servoIndex]); // delay to allow servo to reach position
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
- this->detach();
+ detach();
#endif
}
diff --git a/Marlin/src/HAL/HAL_STM32/Servo.cpp b/Marlin/src/HAL/HAL_STM32/Servo.cpp
index 93154f7847625d578027054d0aa247a1510f04e0..2882f071ac675c2d1e6488a0708ba7041b944f1e 100644
--- a/Marlin/src/HAL/HAL_STM32/Servo.cpp
+++ b/Marlin/src/HAL/HAL_STM32/Servo.cpp
@@ -31,24 +31,24 @@
uint8_t servoPin[MAX_SERVOS] = { 0 };
int8_t libServo::attach(const int pin) {
- if (this->servoIndex >= MAX_SERVOS) return -1;
- if (pin > 0) servoPin[this->servoIndex] = pin;
- return Servo::attach(servoPin[this->servoIndex]);
+ if (servoIndex >= MAX_SERVOS) return -1;
+ if (pin > 0) servoPin[servoIndex] = pin;
+ return super::attach(servoPin[servoIndex]);
}
int8_t libServo::attach(const int pin, const int min, const int max) {
- if (pin > 0) servoPin[this->servoIndex] = pin;
- return Servo::attach(servoPin[this->servoIndex], min, max);
+ if (pin > 0) servoPin[servoIndex] = pin;
+ return super::attach(servoPin[servoIndex], 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 (this->attach(0) >= 0) {
- this->write(value);
- safe_delay(servo_delay[this->servoIndex]);
+ if (attach(0) >= 0) {
+ write(value);
+ safe_delay(servo_delay[servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
- this->detach();
+ detach();
#endif
}
}
diff --git a/Marlin/src/HAL/HAL_STM32F1/SPI.cpp b/Marlin/src/HAL/HAL_STM32F1/SPI.cpp
index bc10824c8b9f1db9508a28aa6ecbc35dba13e50f..101b42a53afcc17481b71e2cc78344c6b0437d1d 100644
--- a/Marlin/src/HAL/HAL_STM32F1/SPI.cpp
+++ b/Marlin/src/HAL/HAL_STM32F1/SPI.cpp
@@ -213,31 +213,31 @@ void SPIClass::setDataSize(uint32_t datasize) {
}
void SPIClass::setDataMode(uint8_t dataMode) {
- /*
- Notes:
- As far as we know the AVR numbers for dataMode match the numbers required by the STM32.
- From the AVR doc http://www.atmel.com/images/doc2585.pdf section 2.4
-
- SPI Mode CPOL CPHA Shift SCK-edge Capture SCK-edge
- 0 0 0 Falling Rising
- 1 0 1 Rising Falling
- 2 1 0 Rising Falling
- 3 1 1 Falling Rising
-
- On the STM32 it appears to be
-
- bit 1 - CPOL : Clock polarity
- (This bit should not be changed when communication is ongoing)
- 0 : CLK to 0 when idle
- 1 : CLK to 1 when idle
-
- bit 0 - CPHA : Clock phase
- (This bit should not be changed when communication is ongoing)
- 0 : The first clock transition is the first data capture edge
- 1 : The second clock transition is the first data capture edge
-
- If someone finds this is not the case or sees a logic error with this let me know ;-)
- */
+ /**
+ * Notes:
+ * As far as we know the AVR numbers for dataMode match the numbers required by the STM32.
+ * From the AVR doc http://www.atmel.com/images/doc2585.pdf section 2.4
+ *
+ * SPI Mode CPOL CPHA Shift SCK-edge Capture SCK-edge
+ * 0 0 0 Falling Rising
+ * 1 0 1 Rising Falling
+ * 2 1 0 Rising Falling
+ * 3 1 1 Falling Rising
+ *
+ * On the STM32 it appears to be
+ *
+ * bit 1 - CPOL : Clock polarity
+ * (This bit should not be changed when communication is ongoing)
+ * 0 : CLK to 0 when idle
+ * 1 : CLK to 1 when idle
+ *
+ * bit 0 - CPHA : Clock phase
+ * (This bit should not be changed when communication is ongoing)
+ * 0 : The first clock transition is the first data capture edge
+ * 1 : The second clock transition is the first data capture edge
+ *
+ * If someone finds this is not the case or sees a logic error with this let me know ;-)
+ */
_currentSetting->dataMode = dataMode;
uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_CPOL|SPI_CR1_CPHA);
_currentSetting->spi_d->regs->CR1 = cr1 | (dataMode & (SPI_CR1_CPOL|SPI_CR1_CPHA));
@@ -593,7 +593,7 @@ void SPIClass::detachInterrupt() {
// Should be disableInterrupt()
}
-/*
+/**
* Pin accessors
*/
@@ -613,25 +613,14 @@ uint8_t SPIClass::nssPin() {
return dev_to_spi_pins(_currentSetting->spi_d)->nss;
}
-/*
+/**
* Deprecated functions
*/
+uint8_t SPIClass::send(uint8_t data) { write(data); return 1; }
+uint8_t SPIClass::send(uint8_t *buf, uint32_t len) { write(buf, len); return len; }
+uint8_t SPIClass::recv() { return read(); }
-uint8_t SPIClass::send(uint8_t data) {
- this->write(data);
- return 1;
-}
-
-uint8_t SPIClass::send(uint8_t *buf, uint32_t len) {
- this->write(buf, len);
- return len;
-}
-
-uint8_t SPIClass::recv() {
- return this->read();
-}
-
-/*
+/**
* DMA call back functions, one per port.
*/
#if BOARD_NR_SPI >= 1
@@ -650,7 +639,7 @@ uint8_t SPIClass::recv() {
}
#endif
-/*
+/**
* Auxiliary functions
*/
static const spi_pins* dev_to_spi_pins(spi_dev *dev) {
diff --git a/Marlin/src/HAL/HAL_STM32F1/SPI.h b/Marlin/src/HAL/HAL_STM32F1/SPI.h
index 20f22431f6907b41c1f765c5c5a1bc6cc4996905..0162ac13bb17ca8b2e5ef7fe5db2efa1f8694d5d 100644
--- a/Marlin/src/HAL/HAL_STM32F1/SPI.h
+++ b/Marlin/src/HAL/HAL_STM32F1/SPI.h
@@ -96,36 +96,36 @@ typedef enum {
class SPISettings {
public:
- SPISettings(uint32_t clock, BitOrder bitOrder, uint8_t dataMode) {
- if (__builtin_constant_p(clock))
- init_AlwaysInline(clock, bitOrder, dataMode, DATA_SIZE_8BIT);
+ SPISettings(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode) {
+ if (__builtin_constant_p(inClock))
+ init_AlwaysInline(inClock, inBitOrder, inDataMode, DATA_SIZE_8BIT);
else
- init_MightInline(clock, bitOrder, dataMode, DATA_SIZE_8BIT);
+ init_MightInline(inClock, inBitOrder, inDataMode, DATA_SIZE_8BIT);
}
- SPISettings(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) {
- if (__builtin_constant_p(clock))
- init_AlwaysInline(clock, bitOrder, dataMode, dataSize);
+ SPISettings(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) {
+ if (__builtin_constant_p(inClock))
+ init_AlwaysInline(inClock, inBitOrder, inDataMode, inDataSize);
else
- init_MightInline(clock, bitOrder, dataMode, dataSize);
+ init_MightInline(inClock, inBitOrder, inDataMode, inDataSize);
}
- SPISettings(uint32_t clock) {
- if (__builtin_constant_p(clock))
- init_AlwaysInline(clock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT);
+ SPISettings(uint32_t inClock) {
+ if (__builtin_constant_p(inClock))
+ init_AlwaysInline(inClock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT);
else
- init_MightInline(clock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT);
+ init_MightInline(inClock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT);
}
SPISettings() {
init_AlwaysInline(4000000, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT);
}
private:
- void init_MightInline(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) {
- init_AlwaysInline(clock, bitOrder, dataMode, dataSize);
+ void init_MightInline(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) {
+ init_AlwaysInline(inClock, inBitOrder, inDataMode, inDataSize);
}
- void init_AlwaysInline(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) __attribute__((__always_inline__)) {
- this->clock = clock;
- this->bitOrder = bitOrder;
- this->dataMode = dataMode;
- this->dataSize = dataSize;
+ void init_AlwaysInline(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) __attribute__((__always_inline__)) {
+ clock = inClock;
+ bitOrder = inBitOrder;
+ dataMode = inDataMode;
+ dataSize = inDataSize;
}
uint32_t clock;
uint32_t dataSize;
@@ -339,7 +339,7 @@ public:
* or 1-3 in high density devices.
*/
void setModule(int spi_num) {
- _currentSetting=&_settings[spi_num-1];// SPI channels are called 1 2 and 3 but the array is zero indexed
+ _currentSetting = &_settings[spi_num - 1];// SPI channels are called 1 2 and 3 but the array is zero indexed
}
/* -- The following methods are deprecated --------------------------- */
diff --git a/Marlin/src/HAL/HAL_STM32F1/Servo.cpp b/Marlin/src/HAL/HAL_STM32F1/Servo.cpp
index 9db978637dcabe53649fb2df0d9a978485b6fde5..5dc21691544c14898a0f474807bfcfe0816cdf7d 100644
--- a/Marlin/src/HAL/HAL_STM32F1/Servo.cpp
+++ b/Marlin/src/HAL/HAL_STM32F1/Servo.cpp
@@ -56,52 +56,50 @@ uint8_t ServoCount = 0;
#define SERVO_OVERFLOW ((uint16_t)round((double)TAU_CYC / SERVO_PRESCALER))
// Unit conversions
-#define US_TO_COMPARE(us) ((uint16_t)map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW))
-#define COMPARE_TO_US(c) ((uint32_t)map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC))
-#define ANGLE_TO_US(a) ((uint16_t)(map((a), this->minAngle, this->maxAngle, \
- SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW)))
-#define US_TO_ANGLE(us) ((int16_t)(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, \
- this->minAngle, this->maxAngle)))
-
-void libServo::servoWrite(uint8_t pin, uint16_t duty_cycle) {
+#define US_TO_COMPARE(us) uint16_t(map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW))
+#define COMPARE_TO_US(c) uint32_t(map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC))
+#define ANGLE_TO_US(a) uint16_t(map((a), minAngle, maxAngle, SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW))
+#define US_TO_ANGLE(us) int16_t(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, minAngle, maxAngle))
+
+void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) {
#ifdef SERVO0_TIMER_NUM
- if (this->servoIndex == 0) {
- this->pwmSetDuty(duty_cycle);
+ if (servoIndex == 0) {
+ pwmSetDuty(duty_cycle);
return;
}
#endif
- timer_dev *tdev = PIN_MAP[pin].timer_device;
- uint8_t tchan = PIN_MAP[pin].timer_channel;
+ timer_dev *tdev = PIN_MAP[inPin].timer_device;
+ uint8_t tchan = PIN_MAP[inPin].timer_channel;
if (tdev) timer_set_compare(tdev, tchan, duty_cycle);
}
libServo::libServo() {
- this->servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO;
+ 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;
- if (pin >= BOARD_NR_GPIO_PINS) return false;
+bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32_t inMaxAngle) {
+ if (servoIndex >= MAX_SERVOS) return false;
+ if (inPin >= BOARD_NR_GPIO_PINS) return false;
- this->minAngle = minAngle;
- this->maxAngle = maxAngle;
- this->angle = -1;
+ minAngle = inMinAngle;
+ maxAngle = inMaxAngle;
+ angle = -1;
#ifdef SERVO0_TIMER_NUM
- if (this->servoIndex == 0 && this->setupSoftPWM(pin)) {
- this->pin = pin; // set attached()
+ if (servoIndex == 0 && setupSoftPWM(inPin)) {
+ pin = inPin; // set attached()
return true;
}
#endif
- if (!PWM_PIN(pin)) return false;
+ if (!PWM_PIN(inPin)) return false;
- timer_dev *tdev = PIN_MAP[pin].timer_device;
- //uint8_t tchan = PIN_MAP[pin].timer_channel;
+ timer_dev *tdev = PIN_MAP[inPin].timer_device;
+ //uint8_t tchan = PIN_MAP[inPin].timer_channel;
- SET_PWM(pin);
- servoWrite(pin, 0);
+ SET_PWM(inPin);
+ servoWrite(inPin, 0);
timer_pause(tdev);
timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based
@@ -109,25 +107,24 @@ bool libServo::attach(const int32_t pin, const int32_t minAngle, const int32_t m
timer_generate_update(tdev);
timer_resume(tdev);
- this->pin = pin; // set attached()
-
+ pin = inPin; // set attached()
return true;
}
bool libServo::detach() {
- if (!this->attached()) return false;
- this->angle = -1;
- servoWrite(this->pin, 0);
+ if (!attached()) return false;
+ angle = -1;
+ servoWrite(pin, 0);
return true;
}
int32_t libServo::read() const {
- if (this->attached()) {
+ if (attached()) {
#ifdef SERVO0_TIMER_NUM
- if (this->servoIndex == 0) return this->angle;
+ if (servoIndex == 0) return angle;
#endif
- timer_dev *tdev = PIN_MAP[this->pin].timer_device;
- uint8_t tchan = PIN_MAP[this->pin].timer_channel;
+ timer_dev *tdev = PIN_MAP[pin].timer_device;
+ uint8_t tchan = PIN_MAP[pin].timer_channel;
return US_TO_ANGLE(COMPARE_TO_US(timer_get_compare(tdev, tchan)));
}
return 0;
@@ -137,12 +134,12 @@ 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()) {
- this->angle = constrain(value, this->minAngle, this->maxAngle);
- servoWrite(this->pin, US_TO_COMPARE(ANGLE_TO_US(this->angle)));
- safe_delay(servo_delay[this->servoIndex]);
+ if (attached()) {
+ angle = constrain(value, minAngle, maxAngle);
+ servoWrite(pin, US_TO_COMPARE(ANGLE_TO_US(angle)));
+ safe_delay(servo_delay[servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
- this->detach();
+ detach();
#endif
}
}
@@ -169,13 +166,13 @@ void libServo::move(const int32_t value) {
}
}
- bool libServo::setupSoftPWM(const int32_t pin) {
+ bool libServo::setupSoftPWM(const int32_t inPin) {
timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM);
if (!tdev) return false;
#ifdef SERVO0_PWM_OD
- OUT_WRITE_OD(pin, 1);
+ OUT_WRITE_OD(inPin, 1);
#else
- OUT_WRITE(pin, 0);
+ OUT_WRITE(inPin, 0);
#endif
timer_pause(tdev);
@@ -206,9 +203,9 @@ void libServo::move(const int32_t value) {
timer_disable_irq(tdev, 1);
timer_disable_irq(tdev, 2);
#ifdef SERVO0_PWM_OD
- OUT_WRITE_OD(this->pin, 1); // off
+ OUT_WRITE_OD(pin, 1); // off
#else
- OUT_WRITE(this->pin, 0);
+ OUT_WRITE(pin, 0);
#endif
}
}
@@ -221,7 +218,7 @@ void libServo::move(const int32_t value) {
#else
- bool libServo::setupSoftPWM(const int32_t pin) { return false; }
+ bool libServo::setupSoftPWM(const int32_t inPin) { return false; }
void libServo::pwmSetDuty(const uint16_t duty_cycle) {}
void libServo::pauseSoftPWM() {}
diff --git a/Marlin/src/HAL/HAL_STM32F1/Servo.h b/Marlin/src/HAL/HAL_STM32F1/Servo.h
index f97ca7486bbea41492c81fd288c77832a604fd50..92f4dd678d3421bd4fe7c8af4cb75f91f14dc093 100644
--- a/Marlin/src/HAL/HAL_STM32F1/Servo.h
+++ b/Marlin/src/HAL/HAL_STM32F1/Servo.h
@@ -41,7 +41,7 @@ class libServo {
public:
libServo();
bool attach(const int32_t pin, const int32_t minAngle=SERVO_DEFAULT_MIN_ANGLE, const int32_t maxAngle=SERVO_DEFAULT_MAX_ANGLE);
- bool attached() const { return this->pin != NOT_ATTACHED; }
+ bool attached() const { return pin != NOT_ATTACHED; }
bool detach();
void move(const int32_t value);
int32_t read() const;
diff --git a/Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp b/Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp
index 736ddd45e432cfb4ceebb476d155baca1cc8e96c..b3aac77615d4a36e1bbd604c442f792d43d397db 100644
--- a/Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp
+++ b/Marlin/src/HAL/HAL_STM32_F4_F7/Servo.cpp
@@ -30,22 +30,22 @@
#include "Servo.h"
int8_t libServo::attach(const int pin) {
- if (this->servoIndex >= MAX_SERVOS) return -1;
- return Servo::attach(pin);
+ if (servoIndex >= MAX_SERVOS) return -1;
+ return super::attach(pin);
}
int8_t libServo::attach(const int pin, const int min, const int max) {
- return Servo::attach(pin, min, max);
+ return super::attach(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 (this->attach(0) >= 0) {
- this->write(value);
- safe_delay(servo_delay[this->servoIndex]);
+ if (attach(0) >= 0) {
+ write(value);
+ safe_delay(servo_delay[servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
- this->detach();
+ detach();
#endif
}
}
diff --git a/Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp b/Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp
index 7af900b149a2968718791fb7b22e013f5daed99b..6451f6b1722eb7c62b928d55501f9ab21aa0c33f 100644
--- a/Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY31_32/Servo.cpp
@@ -29,25 +29,25 @@
uint8_t servoPin[MAX_SERVOS] = { 0 };
-int8_t libServo::attach(const int pin) {
- if (this->servoIndex >= MAX_SERVOS) return -1;
- if (pin > 0) servoPin[this->servoIndex] = pin;
- return Servo::attach(servoPin[this->servoIndex]);
+int8_t libServo::attach(const int inPin) {
+ if (servoIndex >= MAX_SERVOS) return -1;
+ if (inPin > 0) servoPin[servoIndex] = inPin;
+ return super::attach(servoPin[servoIndex]);
}
-int8_t libServo::attach(const int pin, const int min, const int max) {
- if (pin > 0) servoPin[this->servoIndex] = pin;
- return Servo::attach(servoPin[this->servoIndex], min, max);
+int8_t libServo::attach(const int inPin, const int inMin, const int inMax) {
+ if (inPin > 0) servoPin[servoIndex] = inPin;
+ return super::attach(servoPin[servoIndex], inMin, inMax);
}
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 (this->attach(0) >= 0) {
- this->write(value);
- safe_delay(servo_delay[this->servoIndex]);
+ if (attach(0) >= 0) {
+ write(value);
+ safe_delay(servo_delay[servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
- this->detach();
+ detach();
#endif
}
}
diff --git a/Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp b/Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp
index faf72e9d1e3369048d84e6572201a02b531b7f7d..d376b80a7df6afbd161a7d85f0566d93f6704cd7 100644
--- a/Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp
+++ b/Marlin/src/HAL/HAL_TEENSY35_36/Servo.cpp
@@ -1,3 +1,24 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2019 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/>.
+ *
+ */
#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
#include "../../inc/MarlinConfig.h"
@@ -8,25 +29,25 @@
uint8_t servoPin[MAX_SERVOS] = { 0 };
-int8_t libServo::attach(const int pin) {
- if (this->servoIndex >= MAX_SERVOS) return -1;
- if (pin > 0) servoPin[this->servoIndex] = pin;
- return Servo::attach(servoPin[this->servoIndex]);
+int8_t libServo::attach(const int inPin) {
+ if (servoIndex >= MAX_SERVOS) return -1;
+ if (inPin > 0) servoPin[servoIndex] = inPin;
+ return super::attach(servoPin[servoIndex]);
}
-int8_t libServo::attach(const int pin, const int min, const int max) {
- if (pin > 0) servoPin[this->servoIndex] = pin;
- return Servo::attach(servoPin[this->servoIndex], min, max);
+int8_t libServo::attach(const int inPin, const int inMin, const int inMax) {
+ if (inPin > 0) servoPin[servoIndex] = inPin;
+ return super::attach(servoPin[servoIndex], inMin, inMax);
}
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 (this->attach(0) >= 0) {
- this->write(value);
- safe_delay(servo_delay[this->servoIndex]);
+ if (attach(0) >= 0) {
+ write(value);
+ safe_delay(servo_delay[servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
- this->detach();
+ detach();
#endif
}
}
diff --git a/Marlin/src/HAL/shared/servo.cpp b/Marlin/src/HAL/shared/servo.cpp
index 22cf6bc88f40c4bb0b37a793b39d195adb070960..b5975e58e7088e117097c3ac2cbe9d43dbd71657 100644
--- a/Marlin/src/HAL/shared/servo.cpp
+++ b/Marlin/src/HAL/shared/servo.cpp
@@ -58,11 +58,11 @@
#include "servo.h"
#include "servo_private.h"
-ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
-uint8_t ServoCount = 0; // the total number of attached servos
+ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures
+uint8_t ServoCount = 0; // the total number of attached servos
-#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo
-#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo
+#define SERVO_MIN(v) (MIN_PULSE_WIDTH - (v) * 4) // minimum value in uS for this servo
+#define SERVO_MAX(v) (MAX_PULSE_WIDTH - (v) * 4) // maximum value in uS for this servo
/************ static functions common to all instances ***********************/
@@ -79,54 +79,54 @@ static boolean isTimerActive(timer16_Sequence_t timer) {
Servo::Servo() {
if (ServoCount < MAX_SERVOS) {
- 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
+ servoIndex = ServoCount++; // assign a servo index to this instance
+ servo_info[servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009
}
else
- this->servoIndex = INVALID_SERVO; // too many servos
+ servoIndex = INVALID_SERVO; // too many servos
}
-int8_t Servo::attach(const int pin) {
- return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+int8_t Servo::attach(const int inPin) {
+ return attach(inPin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
}
-int8_t Servo::attach(const int pin, const int min, const int max) {
+int8_t Servo::attach(const int inPin, const int inMin, const int inMax) {
- if (this->servoIndex >= MAX_SERVOS) return -1;
+ if (servoIndex >= MAX_SERVOS) return -1;
- if (pin > 0) servo_info[this->servoIndex].Pin.nbr = pin;
- pinMode(servo_info[this->servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
+ if (inPin > 0) servo_info[servoIndex].Pin.nbr = inPin;
+ pinMode(servo_info[servoIndex].Pin.nbr, OUTPUT); // set servo pin to output
- // todo min/max check: ABS(min - MIN_PULSE_WIDTH) /4 < 128
- this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
- this->max = (MAX_PULSE_WIDTH - max) / 4;
+ // TODO: min/max check: ABS(min - MIN_PULSE_WIDTH) / 4 < 128
+ min = (MIN_PULSE_WIDTH - inMin) / 4; //resolution of min/max is 4 uS
+ max = (MAX_PULSE_WIDTH - inMax) / 4;
// initialize the timer if it has not already been initialized
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) initISR(timer);
- servo_info[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
+ servo_info[servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive
- return this->servoIndex;
+ return servoIndex;
}
void Servo::detach() {
- servo_info[this->servoIndex].Pin.isActive = false;
+ servo_info[servoIndex].Pin.isActive = false;
timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
if (!isTimerActive(timer)) finISR(timer);
}
void Servo::write(int value) {
if (value < MIN_PULSE_WIDTH) // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
- value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(), SERVO_MAX());
- this->writeMicroseconds(value);
+ value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(min), SERVO_MAX(max));
+ writeMicroseconds(value);
}
void Servo::writeMicroseconds(int value) {
// calculate and store the values for the given channel
- byte channel = this->servoIndex;
+ byte channel = servoIndex;
if (channel < MAX_SERVOS) { // ensure channel is valid
// ensure pulse width is valid
- value = constrain(value, SERVO_MIN(), SERVO_MAX()) - (TRIM_DURATION);
+ value = constrain(value, SERVO_MIN(min), SERVO_MAX(max)) - (TRIM_DURATION);
value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
CRITICAL_SECTION_START;
@@ -136,22 +136,22 @@ void Servo::writeMicroseconds(int value) {
}
// return the value as degrees
-int Servo::read() { return map(this->readMicroseconds() + 1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
+int Servo::read() { return map(readMicroseconds() + 1, SERVO_MIN(min), SERVO_MAX(max), 0, 180); }
int Servo::readMicroseconds() {
- return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[this->servoIndex].ticks) + (TRIM_DURATION);
+ return (servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[servoIndex].ticks) + (TRIM_DURATION);
}
-bool Servo::attached() { return servo_info[this->servoIndex].Pin.isActive; }
+bool Servo::attached() { return servo_info[servoIndex].Pin.isActive; }
void Servo::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 (this->attach(0) >= 0) {
- this->write(value);
- safe_delay(servo_delay[this->servoIndex]);
+ if (attach(0) >= 0) {
+ write(value);
+ safe_delay(servo_delay[servoIndex]);
#if ENABLED(DEACTIVATE_SERVOS_AFTER_MOVE)
- this->detach();
+ detach();
#endif
}
}
diff --git a/Marlin/src/feature/twibus.cpp b/Marlin/src/feature/twibus.cpp
index ccd778120ddb24dca9c2aa3291726c3e96aca790..f4fe512cdf3fe561d984c6f8454373e262448be8 100644
--- a/Marlin/src/feature/twibus.cpp
+++ b/Marlin/src/feature/twibus.cpp
@@ -34,12 +34,12 @@ TWIBus::TWIBus() {
#else
Wire.begin(I2C_SLAVE_ADDRESS); // Join the bus as a slave
#endif
- this->reset();
+ reset();
}
void TWIBus::reset() {
- this->buffer_s = 0;
- this->buffer[0] = 0x00;
+ buffer_s = 0;
+ buffer[0] = 0x00;
}
void TWIBus::address(const uint8_t adr) {
@@ -47,7 +47,7 @@ void TWIBus::address(const uint8_t adr) {
SERIAL_ECHO_MSG("Bad I2C address (8-127)");
}
- this->addr = adr;
+ addr = adr;
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("address"), adr);
@@ -55,8 +55,8 @@ void TWIBus::address(const uint8_t adr) {
}
void TWIBus::addbyte(const char c) {
- if (this->buffer_s >= COUNT(this->buffer)) return;
- this->buffer[this->buffer_s++] = c;
+ if (buffer_s >= COUNT(buffer)) return;
+ buffer[buffer_s++] = c;
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("addbyte"), c);
#endif
@@ -66,26 +66,26 @@ void TWIBus::addbytes(char src[], uint8_t bytes) {
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("addbytes"), bytes);
#endif
- while (bytes--) this->addbyte(*src++);
+ while (bytes--) addbyte(*src++);
}
void TWIBus::addstring(char str[]) {
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("addstring"), str);
#endif
- while (char c = *str++) this->addbyte(c);
+ while (char c = *str++) addbyte(c);
}
void TWIBus::send() {
#if ENABLED(DEBUG_TWIBUS)
- debug(PSTR("send"), this->addr);
+ debug(PSTR("send"), addr);
#endif
- Wire.beginTransmission(I2C_ADDRESS(this->addr));
- Wire.write(this->buffer, this->buffer_s);
+ Wire.beginTransmission(I2C_ADDRESS(addr));
+ Wire.write(buffer, buffer_s);
Wire.endTransmission();
- this->reset();
+ reset();
}
// static
@@ -103,22 +103,22 @@ void TWIBus::echodata(uint8_t bytes, const char prefix[], uint8_t adr) {
}
void TWIBus::echobuffer(const char prefix[], uint8_t adr) {
- echoprefix(this->buffer_s, prefix, adr);
- for (uint8_t i = 0; i < this->buffer_s; i++) SERIAL_CHAR(this->buffer[i]);
+ echoprefix(buffer_s, prefix, adr);
+ for (uint8_t i = 0; i < buffer_s; i++) SERIAL_CHAR(buffer[i]);
SERIAL_EOL();
}
bool TWIBus::request(const uint8_t bytes) {
- if (!this->addr) return false;
+ if (!addr) return false;
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("request"), bytes);
#endif
// requestFrom() is a blocking function
- if (Wire.requestFrom(this->addr, bytes) == 0) {
+ if (Wire.requestFrom(addr, bytes) == 0) {
#if ENABLED(DEBUG_TWIBUS)
- debug("request fail", this->addr);
+ debug("request fail", addr);
#endif
return false;
}
@@ -131,12 +131,12 @@ void TWIBus::relay(const uint8_t bytes) {
debug(PSTR("relay"), bytes);
#endif
- if (this->request(bytes))
- echodata(bytes, PSTR("i2c-reply"), this->addr);
+ if (request(bytes))
+ echodata(bytes, PSTR("i2c-reply"), addr);
}
uint8_t TWIBus::capture(char *dst, const uint8_t bytes) {
- this->reset();
+ reset();
uint8_t count = 0;
while (count < bytes && Wire.available())
dst[count++] = Wire.read();
@@ -168,13 +168,13 @@ void TWIBus::flush() {
#endif
if (str) {
- this->reset();
- this->addstring(str);
+ reset();
+ addstring(str);
}
- Wire.write(this->buffer, this->buffer_s);
+ Wire.write(buffer, buffer_s);
- this->reset();
+ reset();
}
#endif
diff --git a/Marlin/src/feature/twibus.h b/Marlin/src/feature/twibus.h
index 1e2f14cfc008c0b8ef3979401385bb0aa1881a90..cc4047637458ae53123cdf9a4c82cc2a0b14f2ee 100644
--- a/Marlin/src/feature/twibus.h
+++ b/Marlin/src/feature/twibus.h
@@ -218,7 +218,7 @@ class TWIBus {
* If a string is passed, write it into the buffer first.
*/
void reply(char str[]=nullptr);
- inline void reply(const char str[]) { this->reply((char*)str); }
+ inline void reply(const char str[]) { reply((char*)str); }
#endif
diff --git a/Marlin/src/libs/circularqueue.h b/Marlin/src/libs/circularqueue.h
index 479e90daba47751d52f76722bcb06e16bfafb14d..6b1923986d7b7f8c06ecf5d9f0494284ff18d5ef 100644
--- a/Marlin/src/libs/circularqueue.h
+++ b/Marlin/src/libs/circularqueue.h
@@ -52,8 +52,8 @@ class CircularQueue {
* items that can be stored on the queue.
*/
CircularQueue<T, N>() {
- this->buffer.size = N;
- this->buffer.count = this->buffer.head = this->buffer.tail = 0;
+ buffer.size = N;
+ buffer.count = buffer.head = buffer.tail = 0;
}
/**
@@ -63,15 +63,15 @@ class CircularQueue {
* @return type T item
*/
T dequeue() {
- if (this->isEmpty()) return T();
+ if (isEmpty()) return T();
- uint8_t index = this->buffer.head;
+ uint8_t index = buffer.head;
- --this->buffer.count;
- if (++this->buffer.head == this->buffer.size)
- this->buffer.head = 0;
+ --buffer.count;
+ if (++buffer.head == buffer.size)
+ buffer.head = 0;
- return this->buffer.queue[index];
+ return buffer.queue[index];
}
/**
@@ -82,13 +82,13 @@ class CircularQueue {
* @return true if the operation was successful
*/
bool enqueue(T const &item) {
- if (this->isFull()) return false;
+ if (isFull()) return false;
- this->buffer.queue[this->buffer.tail] = item;
+ buffer.queue[buffer.tail] = item;
- ++this->buffer.count;
- if (++this->buffer.tail == this->buffer.size)
- this->buffer.tail = 0;
+ ++buffer.count;
+ if (++buffer.tail == buffer.size)
+ buffer.tail = 0;
return true;
}
@@ -98,27 +98,21 @@ class CircularQueue {
* @details Returns true if there are no items on the queue, false otherwise.
* @return true if queue is empty
*/
- bool isEmpty() {
- return this->buffer.count == 0;
- }
+ bool isEmpty() { return buffer.count == 0; }
/**
* @brief Checks if the queue is full
* @details Returns true if the queue is full, false otherwise.
* @return true if queue is full
*/
- bool isFull() {
- return this->buffer.count == this->buffer.size;
- }
+ bool isFull() { return buffer.count == buffer.size; }
/**
* @brief Gets the queue size
* @details Returns the maximum number of items a queue can have.
* @return the queue size
*/
- uint8_t size() {
- return this->buffer.size;
- }
+ uint8_t size() { return buffer.size; }
/**
* @brief Gets the next item from the queue without removing it
@@ -126,16 +120,12 @@ class CircularQueue {
* or updating the pointers.
* @return first item in the queue
*/
- T peek() {
- return this->buffer.queue[this->buffer.head];
- }
+ T peek() { return buffer.queue[buffer.head]; }
/**
* @brief Gets the number of items on the queue
* @details Returns the current number of items stored on the queue.
* @return number of items in the queue
*/
- uint8_t count() {
- return this->buffer.count;
- }
+ uint8_t count() { return buffer.count; }
};