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install a new waveform-flavouring Arduino IDE menu and a new PIO #define (#7712)

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This commit is contained in:
david gauchard
2020-11-19 22:33:31 +01:00
committed by GitHub
parent 0e735e386d
commit eec4dc490b
8 changed files with 205 additions and 18 deletions
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12
libraries/Servo/src/Servo.cpp
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@ -69,8 +69,13 @@ 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;
}
@ -115,9 +120,14 @@ 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)) {
if (startWaveform(_pin, _valueUs, REFRESH_INTERVAL - _valueUs, 0, phaseReference))
#else
if (startWaveform(_pin, _valueUs, REFRESH_INTERVAL - _valueUs, 0))
#endif
{
_servoMap |= (1 << _pin);
}
}