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Resolve "PWM-locked" / "phase-locked" waveform merge leftover in Servo lib #7978

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Merged
merged 4 commits into from
Apr 17, 2021
Merged

Resolve "PWM-locked" / "phase-locked" waveform merge leftover in Servo lib #7978

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8014ccc
Library was overlooked in "PWM-locked" / "phase-locked" waveform mode…
dok-net Apr 12, 2021
21fc5fb
Per review.
dok-net Apr 16, 2021
e772aba
Drop resolved TODO
dok-net Apr 16, 2021
4f158f7
Merge branch 'master' into servo_waveform
earlephilhower Apr 17, 2021
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14 changes: 1 addition & 13 deletions libraries/Servo/src/Servo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -69,13 +69,8 @@ uint8_t Servo::attach(int pin, uint16_t minUs, uint16_t maxUs)
uint8_t Servo::attach(int pin, uint16_t minUs, uint16_t maxUs, int value)
{
if (!_attached) {
#ifdef WAVEFORM_LOCKED_PHASE
pinMode(pin, OUTPUT);
digitalWrite(pin, LOW);
#else
digitalWrite(pin, LOW);
pinMode(pin, OUTPUT);
#endif
_pin = pin;
_attached = true;
}
Expand All @@ -95,11 +90,8 @@ void Servo::detach()
{
if (_attached) {
_servoMap &= ~(1 << _pin);
#ifdef WAVEFORM_LOCKED_PHASE
// TODO - timeHigh == 0 is illegal in _PWM code branch. And now what?
startWaveform(_pin, 0, REFRESH_INTERVAL, 1);
#else
// TODO - timeHigh == 0 is illegal in _PWM code branch. Do nothing for now.
#endif
delay(REFRESH_INTERVAL / 1000); // long enough to complete active period under all circumstances.
stopWaveform(_pin);
_attached = false;
Expand All @@ -124,13 +116,9 @@ void Servo::writeMicroseconds(int value)
_valueUs = value;
if (_attached) {
_servoMap &= ~(1 << _pin);
#ifdef WAVEFORM_LOCKED_PHASE
// Find the first GPIO being generated by checking GCC's find-first-set (returns 1 + the bit of the first 1 in an int32_t)
int phaseReference = __builtin_ffs(_servoMap) - 1;
if (startWaveform(_pin, _valueUs, REFRESH_INTERVAL - _valueUs, 0, phaseReference))
#else
if (startWaveform(_pin, _valueUs, REFRESH_INTERVAL - _valueUs, 0))
#endif
{
_servoMap |= (1 << _pin);
}
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