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🐛 Fix Servos in GD32 HAL (#27791)

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B 2025-04-14 15:52:51 -07:00 • committed by GitHub
parent 5e8a5230a3
commit 7cd1b7708f
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1 changed files with 10 additions and 7 deletions
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17
Marlin/src/HAL/GD32_MFL/Servo.cpp
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@ -41,23 +41,26 @@ static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityG
// This must be called after the MFL Servo class has initialized the timer.
// To be safe this is currently called after every call to attach().
static void fixServoTimerInterruptPriority() {
NVIC_SetPriority(getTimerUpIRQ(TIMER_SERVO), servo_interrupt_priority);
auto& servoTimerIdx = GeneralTimer::get_instance(static_cast<timer::TIMER_Base>(TIMER_SERVO));
NVIC_SetPriority(servoTimerIdx.getTimerUpIRQ(), servo_interrupt_priority);
}
// Default constructor for libServo class.
// Initializes the servo delay, pause state, and pause value.
// Registers the servo instance in the servos array.
libServo::libServo() : delay(servoDelay[servoCount]),
libServo::libServo() :
delay(servoDelay[servoCount]),
was_attached_before_pause(false),
value_before_pause(0) {
value_before_pause(0)
{
servos[servoCount++] = this;
}
// Attaches a servo to a specified pin.
int8_t libServo::attach(const int pin) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
auto result = mflServo.attach(servo_pin);
if (pin > 0) servoPin = pin;
auto result = mflServo.attach(servoPin);
fixServoTimerInterruptPriority();
return result;
}
@ -65,8 +68,8 @@ int8_t libServo::attach(const int pin) {
// Attaches a servo to a specified pin with minimum and maximum pulse widths.
int8_t libServo::attach(const int pin, const int min, const int max) {
if (servoCount >= MAX_SERVOS) return -1;
if (pin > 0) servo_pin = pin;
auto result = mflServo.attach(servo_pin, min, max);
if (pin > 0) servoPin = pin;
auto result = mflServo.attach(servoPin, min, max);
fixServoTimerInterruptPriority();
return result;
}